Development and User Assessment of a Body-Machine Interface for a Hybrid-Controlled 6-Degree of Freedom Robotic Arm (MERCURY)

Abstract

This paper presents the development, pilot testing and user assessment results for a body-machine interface (BMI) designed to control a 6-degree of freedom robotic arm, developed by our research team. The BMI was designed to be wearable, immersive and intuitive, constituting the first part of a hybrid real-time user interface. A total of 34 volunteers participated in this study, performing two sets of three tasks in which they controlled the robotic arm, a) within direct line of sight and b) through a video link. All participants completed questionnaires to evaluate their technological background, familiarization with informatics, electronics, robotics and video teleconferencing. At this point of development the system does not capture brainwaves or electric neural input, it simply captures the motion of the operator’s arm. The complete MERCURY prototype system is still under development and additionally comprises a wearable, wireless brain-computer interface (BCI) headset. The BCI headset is currently being integrated into the system and has not yet been pilot tested. The complete hybrid-interface system is primarily intended for research into human-computer interfaces, neurophysiological experiments, as well as industrial applications requiring immersive remote control of robotic machinery.