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Authors: Fernando Alfredo Auat Cheeín 1 ; Fernando di Sciascio 1 ; Ricardo Carelli 1 and Teodiano Freire Bastos Filho 2

Affiliations: 1 Institute of Automatic, National University of San Juan, Argentina ; 2 Federal University of Espírito Santo, Brazil

Keyword(s): Brain Computer-Interface, Robot Manipulator, Probabilistic Scan Mode.

Related Ontology Subjects/Areas/Topics: Biomedical Engineering ; Biomedical Instrumentation ; Biomedical Instruments and Devices ; Biomedical Sensors ; Biorobotics

Abstract: In this paper, probabilistic-based workspace scan modes of a robot manipulator are presented. The scan modes are governed by a Brain Computer Interface (BCI) based on Event Related Potentials (Synchronization and Desynchronization events). The user is capable to select a specific position at the robot’s workspace, which should be reached by the manipulator. The robot workspace is divided into cells. Each cell has a probability value associated to it. Once the robot reaches a cell, its probability value is updated. The mode the scans are made is determined by the probability of all cells at the workspace. The updating process is governed by a recursive Bayes algorithm. A performance comparison between a sequential scan mode and the ones proposed here is presented. Mathematical derivations and experimental results are also shown in this paper.

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Paper citation in several formats:
Alfredo Auat Cheeín, F.; di Sciascio, F.; Carelli, R. and Freire Bastos Filho, T. (2008). PROBABILISTIC WORKPSACE SCAN MODES OF A ROBOT MANIPULATOR COMMANDED BY EEG SIGNALS. In Proceedings of the First International Conference on Biomedical Electronics and Devices (BIOSTEC 2008) - Volume 2: BIODEVICES; ISBN 978-989-8111- 17-3; ISSN 2184-4305, SciTePress, pages 3-8. DOI: 10.5220/0001048400030008

@conference{biodevices08,
author={Fernando {Alfredo Auat Cheeín}. and Fernando {di Sciascio}. and Ricardo Carelli. and Teodiano {Freire Bastos Filho}.},
title={PROBABILISTIC WORKPSACE SCAN MODES OF A ROBOT MANIPULATOR COMMANDED BY EEG SIGNALS},
booktitle={Proceedings of the First International Conference on Biomedical Electronics and Devices (BIOSTEC 2008) - Volume 2: BIODEVICES},
year={2008},
pages={3-8},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001048400030008},
isbn={978-989-8111- 17-3},
issn={2184-4305},
}

TY - CONF

JO - Proceedings of the First International Conference on Biomedical Electronics and Devices (BIOSTEC 2008) - Volume 2: BIODEVICES
TI - PROBABILISTIC WORKPSACE SCAN MODES OF A ROBOT MANIPULATOR COMMANDED BY EEG SIGNALS
SN - 978-989-8111- 17-3
IS - 2184-4305
AU - Alfredo Auat Cheeín, F.
AU - di Sciascio, F.
AU - Carelli, R.
AU - Freire Bastos Filho, T.
PY - 2008
SP - 3
EP - 8
DO - 10.5220/0001048400030008
PB - SciTePress