NDLI: Reliable planning and execution of a human-robot cooperative system based on noninvasive brain-computer interface with uncertainty

Content Provider	IEEE Xplore Digital Library
Author	Wenchuan Jia Dandan Huang Ou Bai Huayan Pu Xin Luo Xuedong Chen
Copyright Year	2012
Description	Author affiliation: EEG&BCI Laboratory, Department of Biomedical Engineering, Virginia Commonwealth University, Richmond, US (Dandan Huang; Ou Bai) \|\| State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China (Wenchuan Jia; Huayan Pu; Xin Luo; Xuedong Chen)
Abstract	A human-robot cooperative approach to reliable planning and execution is presented. The human-robot system consists of three components: human user, wheelchair robot and the noninvasive brain-computer interface (BCI) which can represent limit types of user's intention patterns based on EEG signals, with insufficient decoding accuracy and time delay. To achieve efficient navigation and positioning under condition of decoding uncertainties of the BCI, three cooperative modes are proposed for specific situations based on trade-off of robot's autonomy and user's flexibility. The coding protocol in each mode is elucidated in detail, and strategies of mode switching are developed. To achieve continuous and smooth motion, a look-ahead visual feedback is applied, so that the user can adjust the intention and/or actively correct extraction error of the BCI before the robot reaches current path node, and consequently, reliable planning and execution are ensured. The effectiveness of the strategies is evaluated by simulations.
Starting Page	3798
Ending Page	3805
File Size	1148014
Page Count	8
File Format	PDF
ISBN	9781467317375
ISSN	21530858
e-ISBN	9781467317368
DOI	10.1109/IROS.2012.6386087
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-10-07
Publisher Place	Portugal
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Reliability Compass Uncertainty Navigation Laboratories Simultaneous localization and mapping navigation Neurorobotics cognitive human-robot interaction
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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