Design and Optimization of a BCI-Driven Telepresence Robot Through Programming by Demonstration
Improving the life quality of people with severe motor paralysis has a significant impact on restoring their functional independence to perform activities of daily living (ADL). Telepresence is a subfield of the robotic-assisted route, where human plays the role of an operator, sending high-level in...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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IEEE
2019-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/8788527/ |
| _version_ | 1818566039280025600 |
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| author | Berdakh Abibullaev Amin Zollanvari Batyrkhan Saduanov Tohid Alizadeh |
| author_facet | Berdakh Abibullaev Amin Zollanvari Batyrkhan Saduanov Tohid Alizadeh |
| author_sort | Berdakh Abibullaev |
| collection | DOAJ |
| description | Improving the life quality of people with severe motor paralysis has a significant impact on restoring their functional independence to perform activities of daily living (ADL). Telepresence is a subfield of the robotic-assisted route, where human plays the role of an operator, sending high-level instructions to an assistive robot while receiving sensory feedback. However, for severely motor-impaired people, conventional interaction modalities may not be suitable due to their complete paralysis. Thus, designing alternative ways of interaction such as Brain-Computer Interfaces (BCI) is essential for a telepresence capability. We propose a novel framework that integrates a BCI system and a humanoid robot to develop a brain-controlled telepresence system with multimodal control features. In particular, the low-level control is executed by Programming by Demonstration (PbD) models, and the higher-level cognitive commands are produced by a BCI system to perform vital ADLs. The presented system is based on real-time decoding of attention-modulated neural responses elicited in the brain electroencephalographic signals and generating multiple control commands. As a result, the system allows a user to interact with a humanoid robot while receiving auditory and visual feedback from the robot's sensors. We validated our system across ten subjects in a realistic scenario. The experimental results show the feasibility of the approach in the design of a telepresence robot with high BCI decoding performances. |
| first_indexed | 2024-12-14T01:48:37Z |
| format | Article |
| id | doaj.art-70f0bd679c774264961eae8eb8b379c6 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-14T01:48:37Z |
| publishDate | 2019-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-70f0bd679c774264961eae8eb8b379c62022-12-21T23:21:28ZengIEEEIEEE Access2169-35362019-01-01711162511163610.1109/ACCESS.2019.29332688788527Design and Optimization of a BCI-Driven Telepresence Robot Through Programming by DemonstrationBerdakh Abibullaev0https://orcid.org/0000-0002-8623-5526Amin Zollanvari1https://orcid.org/0000-0002-9172-8413Batyrkhan Saduanov2Tohid Alizadeh3Department of Robotics and Mechatronics, Nazarbayev University, Nur-Sultan, KazakhstanDepartment of Electrical and Computer Engineering, Nazarbayev University, Nur-Sultan, KazakhstanDepartment of Robotics and Mechatronics, Nazarbayev University, Nur-Sultan, KazakhstanDepartment of Robotics and Mechatronics, Nazarbayev University, Nur-Sultan, KazakhstanImproving the life quality of people with severe motor paralysis has a significant impact on restoring their functional independence to perform activities of daily living (ADL). Telepresence is a subfield of the robotic-assisted route, where human plays the role of an operator, sending high-level instructions to an assistive robot while receiving sensory feedback. However, for severely motor-impaired people, conventional interaction modalities may not be suitable due to their complete paralysis. Thus, designing alternative ways of interaction such as Brain-Computer Interfaces (BCI) is essential for a telepresence capability. We propose a novel framework that integrates a BCI system and a humanoid robot to develop a brain-controlled telepresence system with multimodal control features. In particular, the low-level control is executed by Programming by Demonstration (PbD) models, and the higher-level cognitive commands are produced by a BCI system to perform vital ADLs. The presented system is based on real-time decoding of attention-modulated neural responses elicited in the brain electroencephalographic signals and generating multiple control commands. As a result, the system allows a user to interact with a humanoid robot while receiving auditory and visual feedback from the robot's sensors. We validated our system across ten subjects in a realistic scenario. The experimental results show the feasibility of the approach in the design of a telepresence robot with high BCI decoding performances.https://ieeexplore.ieee.org/document/8788527/Brain-Computer interfacestelepresenceprogramming by demonstrationEEGevent-related potentialshumanoid robots |
| spellingShingle | Berdakh Abibullaev Amin Zollanvari Batyrkhan Saduanov Tohid Alizadeh Design and Optimization of a BCI-Driven Telepresence Robot Through Programming by Demonstration IEEE Access Brain-Computer interfaces telepresence programming by demonstration EEG event-related potentials humanoid robots |
| title | Design and Optimization of a BCI-Driven Telepresence Robot Through Programming by Demonstration |
| title_full | Design and Optimization of a BCI-Driven Telepresence Robot Through Programming by Demonstration |
| title_fullStr | Design and Optimization of a BCI-Driven Telepresence Robot Through Programming by Demonstration |
| title_full_unstemmed | Design and Optimization of a BCI-Driven Telepresence Robot Through Programming by Demonstration |
| title_short | Design and Optimization of a BCI-Driven Telepresence Robot Through Programming by Demonstration |
| title_sort | design and optimization of a bci driven telepresence robot through programming by demonstration |
| topic | Brain-Computer interfaces telepresence programming by demonstration EEG event-related potentials humanoid robots |
| url | https://ieeexplore.ieee.org/document/8788527/ |
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