Design and Optimization of a BCI-Driven Telepresence Robot Through Programming by Demonstration

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dc.contributor.authorAbibullaev, Berdakh
dc.contributor.authorZollanvari, Amin
dc.contributor.authorSaduanov, Batyrkhan
dc.contributor.authorAlizadeh, Tohid
dc.date.accessioned2019-12-11T05:45:49Z
dc.date.available2019-12-11T05:45:49Z
dc.date.issued2019-08-05
dc.descriptionhttps://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=8788527en_US
dc.description.abstractImproving the life quality of people with severe motor paralysis has a significant impact on restoring their functional independence to perform activities of daily living (ADL). Telepresence is a subfield of the robotic-assisted route, where human plays the role of an operator, sending high-level instructions to an as sistive robot while receiving sensory feedback. However, for severely motor-impaired people, conventional interaction modalities may not be suitable due to their complete paralysis. Thus, designing alternative ways of interaction such as Brain-Computer Interfaces (BCI) is essential for a telepresence capability. We propose a novel framework that integrates a BCI system and a humanoid robot to develop a brain-controlled telepresence system with multimodal control features. In particular, the low-level control is executed by Programming by Demonstration (PbD) models, and the higher-level cognitive commands are produced by a BCI system to perform vital ADLs. The presented system is based on real-time decoding of attention-modulated neural responses elicited in the brain electroencephalographic signals and generating multiple control commands. As a result, the system allows a user to interact with a humanoid robot while receiving auditory and visual feedback from the robot's sensors. We validated our system across ten subjects in a realistic scenario. The experimental results show the feasibility of the approach in the design of a telepresence robot with high BCI decoding performances.en_US
dc.identifier.citationAbibullaev, B., Zollanvari, A., Saduanov, B., & Alizadeh, T. (2019). Design and Optimization of a BCI-Driven Telepresence Robot Through Programming by Demonstration. IEEE Access, 7, 111625–111636. https://doi.org/10.1109/access.2019.2933268en_US
dc.identifier.other10.1109/ACCESS.2019.2933268
dc.identifier.other000484438400014
dc.identifier.urihttp://nur.nu.edu.kz/handle/123456789/4350
dc.language.isoenen_US
dc.publisherInstitute of Electrical and Electronics Engineersen_US
dc.rightsAttribution-NonCommercial-ShareAlike 3.0 United States*
dc.rights.urihttp://creativecommons.org/licenses/by-nc-sa/3.0/us/*
dc.subjecttelepresenceen_US
dc.subjectprogramming by demonstrationen_US
dc.subjectEEGen_US
dc.subjectevent-related potentialsen_US
dc.subjecthumanoid robotsen_US
dc.subjectBrain-Computer interfacesen_US
dc.titleDesign and Optimization of a BCI-Driven Telepresence Robot Through Programming by Demonstrationen_US
dc.typeArticleen_US
workflow.import.sourcescience

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