Brain-Computer Interface meets ROS: A robotic approach to mentally drive telepresence robots
| Autor: | Luca Tonin, Emanuele Menegatti, Morris Antonello, Andrea Cimolato, Gloria Beraldo |
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| Jazyk: | angličtina |
| Rok vydání: | 2017 |
| Předmět: |
FOS: Computer and information sciences
telepresence Brain-Computer Interface Socially Assistive Robots Computer science Interface (computing) 01 natural sciences 050105 experimental psychology rehabilitation Computer Science - Robotics Human–computer interaction 0103 physical sciences Obstacle avoidance 0501 psychology and cognitive sciences Brain–computer interface 010302 applied physics Telerobotics people business.industry 05 social sciences Brain-Computer Interface Socially Assistive Robots telepresence Robotics blackwellized particle filters Task analysis Robot Artificial intelligence business Mobile device Robotics (cs.RO) |
| Zdroj: | ICRA |
| Popis: | This paper shows and evaluates a novel approach to integrate a non-invasive Brain-Computer Interface (BCI) with the Robot Operating System (ROS) to mentally drive a telepresence robot. Controlling a mobile device by using human brain signals might improve the quality of life of people suffering from severe physical disabilities or elderly people who cannot move anymore. Thus, the BCI user is able to actively interact with relatives and friends located in different rooms thanks to a video streaming connection to the robot. To facilitate the control of the robot via BCI, we explore new ROS-based algorithms for navigation and obstacle avoidance, making the system safer and more reliable. In this regard, the robot can exploit two maps of the environment, one for localization and one for navigation, and both can be used also by the BCI user to watch the position of the robot while it is moving. As demonstrated by the experimental results, the user's cognitive workload is reduced, decreasing the number of commands necessary to complete the task and helping him/her to keep attention for longer periods of time. Accepted in the Proceedings of the 2018 IEEE International Conference on Robotics and Automation |
| Databáze: | OpenAIRE |
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