Noninvasive brain-actuated control of a mobile robot by human EEG

Author

Millan, Jd.R. ; Renkens, Frédéric ; Mouriño, Josep ; Gerstner, Wulfram

Author_Institution

Lab. of Comput. Neurosci., Swiss Fed. Inst. of Technol., Lausanne, Switzerland

Volume

51

Issue

6

fYear

2004

fDate

6/1/2004 12:00:00 AM

Firstpage

1026

Lastpage

1033

Abstract

Brain activity recorded noninvasively is sufficient to control a mobile robot if advanced robotics is used in combination with asynchronous electroencephalogram (EEG) analysis and machine learning techniques. Until now brain-actuated control has mainly relied on implanted electrodes, since EEG-based systems have been considered too slow for controlling rapid and complex sequences of movements. We show that two human subjects successfully moved a robot between several rooms by mental control only, using an EEG-based brain-machine interface that recognized three mental states. Mental control was comparable to manual control on the same task with a performance ratio of 0.74.

Keywords

bioelectric potentials; electroencephalography; handicapped aids; medical computing; robot kinematics; EEG-based brain-machine interface; asynchronous electroencephalogram analysis; brain activity; human EEG; implanted electrodes; machine learning techniques; mental control; mobile robot; noninvasive brain-actuated control; Control systems; Electrodes; Electroencephalography; Human factors; Infrared sensors; Mobile robots; Protocols; Robot control; Scalp; Spatial resolution; Algorithms; Cerebral Cortex; Cognition; Cybernetics; Electroencephalography; Evoked Potentials; Humans; Pattern Recognition, Automated; Reproducibility of Results; Robotics; Sensitivity and Specificity; Task Performance and Analysis;

fLanguage

English

Journal_Title

Biomedical Engineering, IEEE Transactions on

Publisher

ieee

ISSN

0018-9294

Type

jour

DOI

10.1109/TBME.2004.827086

Filename

1300798