Journal ArticleDOI
Motor-Imagery-Based Teleoperation of a Dual-Arm Robot Performing Manipulation Tasks
TLDR
This paper proposes a brain–computer interface (BCI)-based teleoperation strategy for a dual-arm robot carrying a common object by multifingered hands based on motor imagery of the human brain, which utilizes common spatial pattern method to analyze the filtered electroencephalograph signals.Abstract:
This paper proposes a brain–computer interface (BCI)-based teleoperation strategy for a dual-arm robot carrying a common object by multifingered hands. The BCI is based on motor imagery of the human brain, which utilizes common spatial pattern method to analyze the filtered electroencephalograph signals. Human intentions can be recognized and classified into the corresponding reference commands in task space for the robot according to phenomena of event-related synchronization/desynchronization, such that the object manipulation tasks guided by human user’s mind can be achieved. Subsequently, a concise dynamics consisting of the dynamics of the robotic arms and the geometrical constraints between the end-effectors and the object is formulated for the coordinated dual arm. To achieve optimization motion in the task space, a redundancy resolution at velocity level has been implemented through neural-dynamics optimization. Extensive experiments have been made by a number of subjects, and the results were provided to demonstrate the effectiveness of the proposed control strategy.read more
Citations
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Journal ArticleDOI
Toward Teaching by Demonstration for Robot-Assisted Minimally Invasive Surgery
TL;DR: In this article, the authors used TbD to transfer motion skills from multiple human demonstrations in open surgery to robot manipulators in robot assisted minimally invasive surgery (RA-MIS) by using a decoupled controller to respect the remote center of motion constraint exploiting the redundancy of the robot.
Journal ArticleDOI
Fuzzy-Torque Approximation-Enhanced Sliding Mode Control for Lateral Stability of Mobile Robot
TL;DR: In this article , a flexible lateral control scheme is considered for the developed wheel-legged robot, which consists of a cubature Kalman algorithm to evaluate the centroid slip angle and the yaw rate.
Journal ArticleDOI
Skill transfer learning for autonomous robots and human-robot cooperation: A survey
TL;DR: An overview of the most important applications of STL is provided by analyzing and categorizing existing works in autonomous robots and human–robot cooperation area and discussing remaining open challenges and promising research topics in future.
Journal ArticleDOI
Motor Imagery EEG Decoding Method Based on a Discriminative Feature Learning Strategy
TL;DR: In this paper, a discriminative feature learning strategy is proposed to improve the discrimination of features, which includes the central distance loss (CD-loss), the central vector shift strategy, and the Central vector update process.
Journal ArticleDOI
Automatic Parking Control of Unmanned Vehicle Based on Switching Control Algorithm and Backstepping
TL;DR: In this article, a simple control method for the fully automatic parking of an unmanned vehicle is presented based on the switching control algorithm and backstepping theory, and an exponentially e-convergent control algorithm is adopted to guarantee both converge norm and convergence rate.
References
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Journal ArticleDOI
Event-related EEG/MEG synchronization and desynchronization: basic principles.
TL;DR: Quantification of ERD/ERS in time and space is demonstrated on data from a number of movement experiments, whereby either the same or different locations on the scalp can display ERD and ERS simultaneously.
Journal ArticleDOI
Reach and grasp by people with tetraplegia using a neurally controlled robotic arm
Leigh R. Hochberg,Daniel Bacher,Beata Jarosiewicz,Beata Jarosiewicz,Nicolas Y. Masse,John D. Simeral,John D. Simeral,John D. Simeral,Joern Vogel,Sami Haddadin,Jie Liu,Jie Liu,Sydney S. Cash,Patrick van der Smagt,John P. Donoghue,John P. Donoghue +15 more
TL;DR: The results demonstrate the feasibility for people with tetraplegia, years after injury to the central nervous system, to recreate useful multidimensional control of complex devices directly from a small sample of neural signals.
Journal ArticleDOI
Motor imagery and direct brain-computer communication
TL;DR: At this time, a tetraplegic patient is able to operate an EEG-based control of a hand orthosis with nearly 100% classification accuracy by mental imagination of specific motor commands.
Journal ArticleDOI
Regularizing Common Spatial Patterns to Improve BCI Designs: Unified Theory and New Algorithms
Fabien Lotte,Cuntai Guan +1 more
TL;DR: Results showed that the best RCSP methods can outperform CSP by nearly 10% in median classification accuracy and lead to more neurophysiologically relevant spatial filters and enable us to perform efficient subject-to-subject transfer.
Journal ArticleDOI
Adaptive Neural Impedance Control of a Robotic Manipulator With Input Saturation
Wei He,Yiting Dong,Changyin Sun +2 more
TL;DR: In this article, an adaptive impedance controller for a robotic manipulator with input saturation was developed by employing neural networks. But the adaptive impedance control was not considered in the tracking control design, and the input saturation is handled by designing an auxiliary system.