Tele-operation of Flexible Manipulator by using Bio-potential Signals

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We have been working on the development of systems whereby a person can control a mobile robot, flexible manipulator, and mechanical machines by using the components of his/her brain wave bio-potentials. Such a system is used as a control device employing human eye-movements, facial muscle, and brain wave bio-potentials. As inputs, biofeedback is provided by indications on a computer screen so the human operator can practice his/her inputs before applying them to the control of mechanical systems. The operator's forehead bio-potentials can be acquired and processed in the bio-potential interface system as mechanical systems control source signals. The computer analyzes an operator's EEG (electroencephalographic), EOG (electrooculographic), and EMG (electromyographic) signals in real time. This analyzation is achieved by periodically checking EEG, EOG and EMG signals in real-time. The results are used to control mechanical systems. Operators perform successfully, with accuracy of the control improving with training. The experimental results suggest that mechanical systems can be operated by human brain wave bio-potentials.