Abstract
Brain-Computer Interfaces are promising technologies that can improve Human-Robot Interaction, especially for disabled and impaired individuals. Non-invasive BCI’s, which are very desirable from a medical and therapeutic perspective, are only able to deliver noisy, low-bandwidth signals, making their use in complex tasks difficult. To this end, we present a shared control online grasp planning framework using an advanced EEG-based interface. Unlike commonly used paradigms, the EEG interface we incorporate allows online generation of a flexible number of options. This online planning framework allows the user to direct the planner towards grasps that reflect their intent for using the grasped object by successively selecting grasps that approach the desired approach direction of the hand. The planner divides the grasping task into phases, and generates images that reflect the choices that the planner can make at each phase. The EEG interface is used to recognize the user’s preference among a set of options presented by the planner. The EEG signal classifier is fast and simple to train, and the system as a whole requires almost no learning on the part of the subject. Three subjects were able to successfully use the system to grasp and pick up a number of objects in a cluttered scene.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Notes
References
Advanced Brain Monitoring. http://www.advancedbrainmonitoring.com/xseries/x10/
Bell, C.J., Shenoy, P., Chalodhorn, R., Rao, R.P.: Control of a humanoid robot by a noninvasive brain-computer interface in humans. J. Neural Eng. 5(2), 214 (2008)
Bryan, J., Thomas, V., Nicoll, G., Chang, L., Rao, R.: What you think is what you get: brain-controlled interfacing for the pr2. In: IROS (2011)
Ciocarlie, M., Clanton, S., Spalding, M., Allen, P.: Biomimetic grasp planning for cortical control of a robotic hand. In: Proceedings of IROS, pp. 2271–2276 (2008)
Ciocarlie, M.T., Allen, P.K.: Hand posture subspaces for dexterous robotic grasping. Int. J. Robot. Res. 28(7), 851–867 (2009)
Ferrari, C., Canny, J.: Planning optimal grasps. In: Proceedings of the International Conference on Robotics and Automation (1992)
Fisher, R.A.: The use of multiple measurements in taxonomic problems. Annals of Eugenics 7(2), 179–188 (1936)
Gerson, A., Parra, L., Sajda, P.: Cortically coupled computer vision for rapid image search. IEEE Trans. Neural Syst. Rehabil. Eng. 14(2), 174–179 (2006)
Horki, P., Solis-Escalante, T., Neuper, C., Müller-Putz, G.: Combined motor imagery and ssvep based bci control of a 2 dof artificial upper limb. Med. Biol. Eng. Comput. 49(5), 567–577 (2011)
Kinova Robotics Mico. http://kinovarobotics.com/products/mico-robotics/
Lampe, T., Fiederer, L.D., Voelker, M., Knorr, A., Riedmiller, M., Ball, T.: A brain-computer interface for high-level remote control of an autonomous, reinforcement-learning-based robotic system for reaching and grasping. In: Proceedings of International Conference on Intelligent User Interfaces, IUI ’14 (2014)
Muelling, K., Venkatraman, A., Valois, J.S., Downey, J., Weiss, J., Javdani, S., Hebert, M., Schwartz, A.B., Collinger, J.L., Bagnell, J.A.: Autonomy infused teleoperation with application to bci manipulation. arXiv preprint arXiv:1503.05451 (2015)
OpenBCI. http://www.openbci.com
Pohlmeyer, E.A., Wang, J., Jangraw, D.C., Lou, B., Chang, S.F., Sajda, P.: Closing the loop in cortically-coupled computer vision: a brain-computer interface for searching image databases. J. Neural Eng. 8(3), 036025 (2011)
Postelnicu, C.C., Talaba, D., Toma, M.I.: Controlling a robotic arm by brainwaves and eye movement. In: Technological Innovation for Sustainability. Springer (2011)
Royer, A.S., Rose, M.L., He, B.: Goal selection versus process control while learning to use a brain–computer interface. J. Neural Eng. 8(3), 036,012 (2011)
Sajda, P., Pohlmeyer, E., Wang, J., Parra, L., Christoforou, C., Dmochowski, J., Hanna, B., Bahlmann, C., Singh, M., Chang, S.F.: In a blink of an eye and a switch of a transistor: cortically coupled computer vision. Proc. IEEE 98(3), 462–478 (2010)
Sucan, I.A., Chitta, S.M.: (2013). http://moveit.ros.org
Vogel, J., Haddadin, S., Simeral, J.D., Stavisky, S.D., Bacher, D., Hochberg, L.R., Donoghue, J.P., van der Smagt, P.: Continuous control of the dlr light-weight robot iii by a human with tetraplegia using the braingate2 neural interface system. In: Experimental Robotics, pp. 125–136. Springer (2014)
Waytowich, N., Henderson, A., Krusienski, D., Cox, D.: Robot application of a brain computer interface to staubli tx40 robots-early stages. In: World Automation Congress. IEEE (2010)
Weisz, J., Elvezio, C., Allen, P.K.: A user interface for assistive grasping. In: 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (2013)
Weisz, J., Shababo, B., Dong, L., Allen, P.K.: Grasping with your face. Springer Tracts in Advanced Robotics pp. 435–448 (2013)
Weisz, J., Barszap, A.G., Joshi, S.S., Allen, P.K.: Single muscle site semg interface for assistive grasping. IROS (2014)
Acknowledgements
The authors would like to gratefully acknowledge the help of Dr. Paul Sajda and Dr. David Jangraw in this work. This work was supported by NSF Grant IIS-1208153.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2018 Springer International Publishing AG
About this chapter
Cite this chapter
Ying, R., Weisz, J., Allen, P.K. (2018). Grasping with Your Brain: A Brain-Computer Interface for Fast Grasp Selection. In: Bicchi, A., Burgard, W. (eds) Robotics Research. Springer Proceedings in Advanced Robotics, vol 2. Springer, Cham. https://doi.org/10.1007/978-3-319-51532-8_20
Download citation
DOI: https://doi.org/10.1007/978-3-319-51532-8_20
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-51531-1
Online ISBN: 978-3-319-51532-8
eBook Packages: EngineeringEngineering (R0)