A Telepresence Mobile Robot Controlled With a Noninvasive Brain-Computer Interface

作者：Escolano Carlos^*; Antelis Javier Mauricio; Minguez Javier

来源：IEEE Transactions on Systems, Man, and Cybernetics - Part B: Cybernetics , 2012, 42(3): 793-804.

DOI：10.1109/TSMCB.2011.2177968

• Brain computer interfaces
• rehabilitation robotics
• telerobotics

This paper reports an electroencephalogram-based brain-actuated telepresence system to provide a user with presence in remote environments through a mobile robot, with access to the Internet. This system relies on a P300-based brain-computer interface (BCI) and a mobile robot with autonomous navigation and camera orientation capabilities. The shared-control strategy is built by the BCI decoding of task-related orders (selection of visible target destinations or exploration areas), which can be autonomously executed by the robot. The system was evaluated using five healthy participants in two consecutive steps: 1) screening and training of participants and 2) preestablished navigation and visual exploration telepresence tasks. On the basis of the results, the following evaluation studies are reported: 1) technical evaluation of the device and its main functionalities and 2) the users%26apos; behavior study. The overall result was that all participants were able to complete the designed tasks, reporting no failures, which shows the robustness of the system and its feasibility to solve tasks in real settings where joint navigation and visual exploration were needed. Furthermore, the participants showed great adaptation to the telepresence system.

• 出版日期2012-6