A Telepresence Mobile Robot Controlled With a Noninvasive Brain-Computer Interface
A Telepresence Mobile Robot Controlled With a Noninvasive Brain-Computer Interface
复制标题
DOI：
10.1109/tsmcb.2011.2177968
复制
发表时间：
2012-06-01
影响因子：
--
通讯作者：
Minguez, Javier
中科院分区：
文献类型：
--
作者：
Escolano, Carlos;Antelis, Javier Mauricio;Minguez, Javier
本文报道了一种基于脑电的脑驱动的远程临场感系统，通过移动的机器人在远程环境中为用户提供临场感，并接入互联网。该系统依赖于基于P300的脑机接口（BCI）和具有自主导航和摄像头定向能力的移动的机器人。共享控制策略通过任务相关命令（选择可见目标目的地或探索区域）的BCI解码来构建，这些命令可以由机器人自主执行。使用五名健康参与者在两个连续步骤中对该系统进行了评估：1）参与者的筛选和培训，以及2）预先建立的导航和视觉探索远程呈现任务。根据结果，报告了以下评价研究：1）器械及其主要功能的技术评价和2）用户行为研究。总体结果是，所有参与者都能够完成设计的任务，没有报告失败，这表明了系统的鲁棒性及其在需要联合导航和视觉探索的真实的环境中解决任务的可行性。此外，参与者对远程呈现系统表现出极大的适应性。
This paper reports an electroencephalogram-based brain-actuated telepresence system to provide a user with presence in remote environments through a mobile robot, with access to the Internet. This system relies on a P300-based brain-computer interface (BCI) and a mobile robot with autonomous navigation and camera orientation capabilities. The shared-control strategy is built by the BCI decoding of task-related orders (selection of visible target destinations or exploration areas), which can be autonomously executed by the robot. The system was evaluated using five healthy participants in two consecutive steps: 1) screening and training of participants and 2) preestablished navigation and visual exploration telepresence tasks. On the basis of the results, the following evaluation studies are reported: 1) technical evaluation of the device and its main functionalities and 2) the users' behavior study. The overall result was that all participants were able to complete the designed tasks, reporting no failures, which shows the robustness of the system and its feasibility to solve tasks in real settings where joint navigation and visual exploration were needed. Furthermore, the participants showed great adaptation to the telepresence system.