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Control of a humanoid robot using EEG

Control of a humanoid robot using EEG. Problem. EEG is low bandwidth Hard to exercise fine grained control. Solution. Use an autonomous robot Provide various options for user to select from Use P300 to detect which option is selected. User Study.

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Control of a humanoid robot using EEG

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  1. Control of a humanoid robot using EEG

  2. Problem • EEG is low bandwidth • Hard to exercise fine grained control

  3. Solution • Use an autonomous robot • Provide various options for user to select from • Use P300 to detect which option is selected

  4. User Study • 4 training sessions to train classifier for grids: 2x2, 2x3, 3x2 • .25sec flash alternating between options • One binary classifier for P300 • Spatial projection algorithm • a multichannel time-series response to an event and projects all the channels to form a single time series that is maximally discriminative.

  5. Brain-Robot Interface • Robot offers image choices to the user • A border flashes alternating on images • User selects an option using P300 response

  6. Results • 98.4% classification accuracy • 97% accuracy without the spatial filter • Grid layout did not have a significant impact

  7. P3 example

  8. Number of Flashes • 95% accuracy with 5 flashes • Using .25 sec flash, with 4 options, a command can be sent every 5 seconds

  9. Number of Flashes

  10. Generalizing Classification

  11. Training Time

  12. Discussion • New mode of interaction • Many potential uses

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