Robotic Grasp Initiation by Gaze Independent Brain-controlled Selection of Virtual Reality Objects

Christoph Reichert, Matthias Kennel, Rudolf Kruse, Hans-Jochen Heinze, Ulrich Schmucker, Hermann Hinrichs, Jochem W. Rieger

Abstract

Assistive devices controlled by human brain activity could help severely paralyzed patients to perform everyday tasks such as reaching and grasping objects. However, the continuous control of anthropomorphic prostheses requires control of a large number of degrees of freedom which is challenging with the currently achievable information transfer rate of noninvasive Brain Computer Interfaces (BCI). In this work we present an autonomous grasping system that allows grasping of natural objects even with the very low information transfer rates obtained in noninvasive BCIs. The grasp of one out of several objects is initiated by decoded voluntary brain wave modulations. A universal online grasp planning algorithm was developed that grasps the object selected by the user in a virtual reality environment. Our results with subjects demonstrate that training effort required to control the system is very low (<10 min) and that the decoding accuracy increases over time. We also found that the system works most reliably when subjects freely select objects and receive virtual grasp feedback.

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Paper Citation


in Harvard Style

Reichert C., Kennel M., Kruse R., Heinze H., Schmucker U., Hinrichs H. and W. Rieger J. (2013). Robotic Grasp Initiation by Gaze Independent Brain-controlled Selection of Virtual Reality Objects . In Proceedings of the International Congress on Neurotechnology, Electronics and Informatics - Volume 1: NEUROTECHNIX, ISBN 978-989-8565-80-8, pages 5-12. DOI: 10.5220/0004608800050012


in Bibtex Style

@conference{neurotechnix13,
author={Christoph Reichert and Matthias Kennel and Rudolf Kruse and Hans-Jochen Heinze and Ulrich Schmucker and Hermann Hinrichs and Jochem W. Rieger},
title={Robotic Grasp Initiation by Gaze Independent Brain-controlled Selection of Virtual Reality Objects},
booktitle={Proceedings of the International Congress on Neurotechnology, Electronics and Informatics - Volume 1: NEUROTECHNIX,},
year={2013},
pages={5-12},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004608800050012},
isbn={978-989-8565-80-8},
}


in EndNote Style

TY - CONF
JO - Proceedings of the International Congress on Neurotechnology, Electronics and Informatics - Volume 1: NEUROTECHNIX,
TI - Robotic Grasp Initiation by Gaze Independent Brain-controlled Selection of Virtual Reality Objects
SN - 978-989-8565-80-8
AU - Reichert C.
AU - Kennel M.
AU - Kruse R.
AU - Heinze H.
AU - Schmucker U.
AU - Hinrichs H.
AU - W. Rieger J.
PY - 2013
SP - 5
EP - 12
DO - 10.5220/0004608800050012