Abstract
Currently, the Brain Computer Interfaces (BCI) system was designed mostly to be implemented for control purpose or navigation which are mostly being employed for mobile robot, manipulator robot and humanoid robot by using Motor Imagery. This study presents an implementation of BCI system to Modular Self-Reconfigurable (MSR) Dtto robot so the robot able to propagate multiple configurations based on EEG-based brain signals. In this paper, a Neurosky’s Mindwave Mobile EEG headset is being used and a framework of controlling the Dtto robot by EEG signals, processed by OpenViBE software are built. The connection being established between Neurosky’s headsets to the OpenViBE, where a Motor Imagery BCI is created to receive and process the EEG data in real time. The main idea for system developed is to associate a direction (Left, Right, Up and Down) based on Hand and Feet Motor Imagery as a command for Dtto robot control. The Direction from OpenViBE were sent via Lab Streaming Layer (LSL) and transmitted via Python software to Arduino controller in the robots. To test the system performance, this study was conducted in Real time experiments. The results are being discussed in this paper.
Highlights
In 1970s, a system for communication between human brain and external application being established by Jacques where the raw data obtained based on human brain signals being manipulated into a data vector [1]
This study presents an implementation of Brain Computer Interfaces (BCI) system to Modular Self-Reconfigurable (MSR) Dtto robot so the robot able to propagate multiple configurations based on EEGbased brain signals
To ensure MSR robot is able to propagate multiple configurations based on Motor Imagery (MI) BCI system, another two mental states for the user will be classified so the system will have 4 control input for the robot to change its configuration into 4 types of configurations
Summary
In 1970s, a system for communication between human brain and external application being established by Jacques where the raw data obtained based on human brain signals being manipulated into a data vector [1]. BCI system that exploits the ERD/ERS brain signals basically being developed in order for robot control with EEG signals recorded during mental task performance, such as Motor Imagery (MI) and Motor Execution (ME) [4]. MSR robot capability for having multiple configurations is being tested by MI BCI system in this study It acquires EEG signals from human brain and classifies them into two user mental states, left-hand and right-hand motor imagery. To ensure MSR robot is able to propagate multiple configurations based on MI BCI system, another two mental states for the user will be classified so the system will have 4 control input for the robot to change its configuration into 4 types of configurations.
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