PROBABILISTIC WORKPSACE SCAN MODES OF A ROBOT MANIPULATOR COMMANDED BY EEG SIGNALS

Fernando Alfredo Auat Cheeín, Fernando di Sciascio, Ricardo Carelli, Teodiano Freire Bastos Filho

Abstract

In this paper, probabilistic-based workspace scan modes of a robot manipulator are presented. The scan modes are governed by a Brain Computer Interface (BCI) based on Event Related Potentials (Synchronization and Desynchronization events). The user is capable to select a specific position at the robot’s workspace, which should be reached by the manipulator. The robot workspace is divided into cells. Each cell has a probability value associated to it. Once the robot reaches a cell, its probability value is updated. The mode the scans are made is determined by the probability of all cells at the workspace. The updating process is governed by a recursive Bayes algorithm. A performance comparison between a sequential scan mode and the ones proposed here is presented. Mathematical derivations and experimental results are also shown in this paper.

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Paper Citation


in Harvard Style

Alfredo Auat Cheeín F., di Sciascio F., Carelli R. and Freire Bastos Filho T. (2008). PROBABILISTIC WORKPSACE SCAN MODES OF A ROBOT MANIPULATOR COMMANDED BY EEG SIGNALS . In Proceedings of the First International Conference on Biomedical Electronics and Devices - Volume 2: BIODEVICES, (BIOSTEC 2008) ISBN 978-989-8111- 17-3, pages 3-8. DOI: 10.5220/0001048400030008


in Bibtex Style

@conference{biodevices08,
author={Fernando Alfredo Auat Cheeín and Fernando di Sciascio and Ricardo Carelli and Teodiano Freire Bastos Filho},
title={PROBABILISTIC WORKPSACE SCAN MODES OF A ROBOT MANIPULATOR COMMANDED BY EEG SIGNALS},
booktitle={Proceedings of the First International Conference on Biomedical Electronics and Devices - Volume 2: BIODEVICES, (BIOSTEC 2008)},
year={2008},
pages={3-8},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001048400030008},
isbn={978-989-8111- 17-3},
}


in EndNote Style

TY - CONF
JO - Proceedings of the First International Conference on Biomedical Electronics and Devices - Volume 2: BIODEVICES, (BIOSTEC 2008)
TI - PROBABILISTIC WORKPSACE SCAN MODES OF A ROBOT MANIPULATOR COMMANDED BY EEG SIGNALS
SN - 978-989-8111- 17-3
AU - Alfredo Auat Cheeín F.
AU - di Sciascio F.
AU - Carelli R.
AU - Freire Bastos Filho T.
PY - 2008
SP - 3
EP - 8
DO - 10.5220/0001048400030008