Assistive robot operated via P300-based brain computer interface

Abstract

In this paper we present an architecture for the operation of an assistive robot finally aimed at allowing users with severe motion disabilities to perform manipulation tasks that may help in daily-life operations. The robotic system, based on a lightweight robot manipulator, receives high level commands from the user through a Brain-Computer Interface based on P300 paradigm. The motion of the manipulator is controlled relying on a closed loop inverse kinematic algorithm that simultaneously manages multiple set-based and equalitybased tasks. The software architecture is developed relying on widely used frameworks to operate BCIs and robots (namely, BCI2000 for the operation of the BCI and ROS for the control of the manipulator) integrating control, perception and communication modules developed for the application at hand. Preliminary experiments have been conducted to show the potentialities of the developed architecture.

Handling robot constraints within a Set-Based Multi-Task Priority Inverse Kinematics Framework

“…The same happens with the upper thresholds σ a,u and σ s,u . For more details about the activation/deactivation algorithm see [17].…”

Dexterous Underwater Manipulation from Onshore Locations: Streamlining Efficiencies for Remotely Operated Underwater Vehicles

“…If there are conflicting tasks, the projection of the velocity contribution of the lower priority tasks into the null space of the higher priority ones guarantees that the priority order is always respected. This control framework has been extended to handle also set-based tasks [9], [10] like, for example, arm joint mechanical limits or obstacle avoidance, in which the control objective is to keep the task value above a lower threshold or below an upper threshold. In order to effectively and safely operate the system, it is useful to divide all the tasks in three groups and to exploit this classification to assign priority levels: 1) Safety tasks such as ROV autoaltitude, mechanical joint limits, obstacle avoidance, that assure the integrity of the system and of the environment in which it operates.…”

Satellite-Based Tele-Operation of an Underwater Vehicle-Manipulator System. Preliminary Experimental Results

“…Then it can be deactivated when the solution of the hierarchy that contains only the other tasks would push its value toward the valid set. A more detailed description of the activation/deactivation algorithm is given in [18].…”

“…In the last years, a great effort has been made in order to extend task-priority frameworks to handle set-based tasks, as for example done in [16]. In particular, the singularityrobust multi-task priority inverse kinematic framework has been extended to handle set-based tasks in [17], [18].…”