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A non-invasive brain-actuated wheelchair based on a P300 neurophysiological protocol and automated navigation
- IEEE Trans. on Robotics
, 2009
"... Abstract—This paper describes a new noninvasive brainactuated wheelchair that relies on a P300 neurophysiological protocol and automated navigation. When in operation, the user faces a screen displaying a real-time virtual reconstruction of the scenario and concentrates on the location of the space ..."
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Cited by 38 (11 self)
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Abstract—This paper describes a new noninvasive brainactuated wheelchair that relies on a P300 neurophysiological protocol and automated navigation. When in operation, the user faces a screen displaying a real-time virtual reconstruction of the scenario and concentrates on the location of the space to reach. A visual stimulation process elicits the neurological phenomenon, and the electroencephalogram (EEG) signal processing detects the target location. This location is transferred to the autonomous navigation system that drives the wheelchair to the desired location while avoiding collisions with obstacles in the environment detected by the laser scanner. This concept gives the user the flexibility to use the device in unknown and evolving scenarios. The prototype was validated with five healthy participants in three consecutive steps: screening (an analysis of three different groups of visual interface designs), virtual-environment driving, and driving sessions with the wheelchair. On the basis of the results, this paper reports the following evaluation studies: 1) a technical evaluation of the device and all functionalities; 2) a users ’ behavior study; and 3) a variability study. The overall result was that all the participants were able to successfully operate the device with relative ease, thus showing a great adaptation as well as a high robustness and low variability of the system. Index Terms—Neurorobotics, rehabilitation robotics. I.
Towards an intelligent wheelchair system for cerebral palsy subjects
- IEEE Trans. Neural Syst. Rehabil. Eng
"... Abstract—This paper describes and evaluates an intelligent wheelchair, adapted for users with cognitive disabilities and mobility impairment. The study focuses on patients with cerebral palsy, one of the most common disorders affecting muscle control and coordination, thereby impairing movement. The ..."
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Cited by 13 (6 self)
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Abstract—This paper describes and evaluates an intelligent wheelchair, adapted for users with cognitive disabilities and mobility impairment. The study focuses on patients with cerebral palsy, one of the most common disorders affecting muscle control and coordination, thereby impairing movement. The wheelchair concept is an assistive device that allows the user to select arbitrary local destinations through a tactile screen interface. The device incorporates an automatic navigation system that drives the vehicle, avoiding obstacles even in unknown and dynamic scenarios. It provides the user with a high degree of autonomy, independent from a particular environment, i.e., not restricted to predefined conditions. To evaluate the rehabilitation device, a study was carried out with four subjects with cognitive impairments, between 11 and 16 years of age. They were first trained so as to get acquainted with the tactile interface and then were recruited to drive the wheelchair. Based on the experience with the subjects, an extensive evaluation of the intelligent wheelchair was provided from two perspectives: 1) based on the technical performance of the entire system and its components and 2) based on the behavior of the user (execution analysis, activity analysis, and competence analysis). The results indicated that the intelligent wheelchair effectively provided mobility and autonomy to the target population. Index Terms—Cerebral Palsy, intelligent wheelchairs, tactile interface.
Safe navigation of a mobile robot considering visibility of environment
- IEEE Trans. Industrial Electronics
, 2009
"... Abstract—We present one approach to achieve safe navigation in an indoor dynamic environment. So far, there have been various useful collision avoidance algorithms and path planning schemes. However, those algorithms possess fundamental limitations in that the robot can avoid only “visible ” ones am ..."
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Cited by 6 (0 self)
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Abstract—We present one approach to achieve safe navigation in an indoor dynamic environment. So far, there have been various useful collision avoidance algorithms and path planning schemes. However, those algorithms possess fundamental limitations in that the robot can avoid only “visible ” ones among surrounded obstacles. In a real environment, it is not possible to detect all the dynamic obstacles around the robot. There are many occluded regions due to the limited field of view. In order to avoid collisions, it is desirable to exploit visibility information. This paper proposes a safe navigation scheme to reduce collision risk considering occluded dynamic obstacles. The robot’s motion is controlled by the hybrid control scheme. The possibility of collision is dually reflected to path planning and speed control. The proposed scheme clearly indicates the structural procedure on how to model and to exploit the risk of navigation. The proposed scheme is experimentally tested in a real office building. The experimental results show that the robot moves along the safe path to obtain sufficient field of view. In addition, safe speed constraints are applied in motion control. It is experimentally verified that a robot safely navigates in dynamic indoor environment by adopting the proposed scheme. Index Terms—Mobile robot navigation, obstacle avoidance, path planning, speed control. I.
Human Brain-Teleoperated Robot between Remote Places
"... Abstract — This paper describes an EEG-based human brainactuated robotic system, which allows performing navigation and visual exploration tasks between remote places via internet, using only brain activity. In operation, two teleoperation modes can be combined: robot navigation and camera explorati ..."
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Cited by 6 (5 self)
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Abstract — This paper describes an EEG-based human brainactuated robotic system, which allows performing navigation and visual exploration tasks between remote places via internet, using only brain activity. In operation, two teleoperation modes can be combined: robot navigation and camera exploration. In both modes, the user faces a real-time video captured by the robot camera merged with augmented reality items. In this representation, the user concentrates on a target area to navigate to or visually explore; then, a visual stimulation process elicits the neurological phenomenon that enables the brain-computer system to decode the intentions of the user. In the navigation mode, the target destination is transferred to the autonomous navigation system, which drives the robot to the desired place while avoiding collisions with the obstacles detected by the laser scanner. In the camera mode, the camera is aligned with the target area to perform an active visual exploration of the remote scenario. In June 2008, within the framework of the experimental methodology, five healthy subjects performed pre-established navigation and visual exploration tasks for one week between two cities separated by 260km. On the basis of the results, a technical evaluation of the device and its main functionalities is reported. The overall result is that all the subjects were able to successfully solve all the tasks reporting no failures, showing a high robustness of the system. I.
1 A Telepresence Mobile Robot Controlled with a Non-invasive Brain-Computer Interface
"... Abstract—This paper reports an EEG-based brain-actuated telepresence system to provide a user with presence in remote environments through a mobile robot, with access to the Internet. This system relies on a P300-based BCI and a mobile robot with autonomous navigation and camera orientation capabili ..."
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Cited by 4 (1 self)
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Abstract—This paper reports an EEG-based brain-actuated telepresence system to provide a user with presence in remote environments through a mobile robot, with access to the Internet. This system relies on a P300-based BCI and a mobile robot with autonomous navigation and camera orientation capabilities. The shared-control strategy is built by the BCI decoding of task-related orders (selection of visible target destinations or exploration areas), which can be autonomously executed by the robot. The system was evaluated using five healthy participants in two consecutive steps: (i) screening and training of participants, and (ii) pre-established navigation and visual exploration telepresence tasks. On the basis of the results, the following evaluation studies are reported: (i) technical evaluation of the device and its main functionalities, and (ii) users ’ behavior study. The overall result was that all participants were able to complete the designed tasks reporting no failures, which shows the robustness of the system and its feasibility to solve tasks in real settings where joint navigation and visual exploration were needed. Furthermore, the participants showed great adaptation to the telepresence system. I.
Synchronous EEG Brain-Actuated Wheelchair with Automated Navigation
"... Abstract — This paper describes a new non-invasive brainactuated wheelchair that relies on a P300 neurophysiological protocol and automated navigation. In operation, the subject faces a screen with a real-time virtual reconstruction of the scenario, and concentrates on the area of the space to reach ..."
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Cited by 4 (0 self)
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Abstract — This paper describes a new non-invasive brainactuated wheelchair that relies on a P300 neurophysiological protocol and automated navigation. In operation, the subject faces a screen with a real-time virtual reconstruction of the scenario, and concentrates on the area of the space to reach. A visual stimulation process elicits the neurological phenomenon and the EEG signal processing detects the target area. This target area represents a location that is given to the autonomous navigation system, which drives the wheelchair to the desired place while avoiding collisions with the obstacles detected by the laser scanner. The accuracy of the brain-computer interface is above 94 % and the flexibility of the sensor-based motion system allows for navigation in non-prepared and populated scenarios. The prototype has been validated with five healthy subjects in three experimental sessions: screening (an analysis of three different interfaces and its implications on the performance of the users), virtual environment driving (training and instruction of the users) and driving sessions with the wheelchair (driving tests along pre-established circuits). On the basis of the results, this paper reports a technical evaluation of the device and a variability study. All the users were able to successfully use the device with relative ease showing a great adaptation. I.
An autonomous tour guide robot in a next generation smart museum”, Accepted for publication
- in the 5th International Symposium on Ubiquitous Computing and Ambient Intelligence (UCAmI
, 2011
"... Abstract — Access to cultural heritage is one of the contexts where Ambient Intelligence can play a significant role, making visitors ’ experience more appealing. This paper presents an overview of an autonomous robot guide in e-Museum, a smart museum that aims to be intelligent, adapting to the cha ..."
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Cited by 2 (2 self)
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Abstract — Access to cultural heritage is one of the contexts where Ambient Intelligence can play a significant role, making visitors ’ experience more appealing. This paper presents an overview of an autonomous robot guide in e-Museum, a smart museum that aims to be intelligent, adapting to the characteristics of each visitor and allowing a natural interaction with the works of art and our social robot. We also present an accurate EKF-localization, reliable navigation techniques with environment builder, path planning and reactive obstacle avoidance that order the motion command, and a people tracking-interaction module to achieve this gregarious tour guide. The last module is the key issue as allows the robot to know where visitors are in every moment and behave in a social manner since it adjusts to its visitors preferences. Our robot guide with its two operating modes provides a friendly human-like interplay. Keywords- Social mobile robots, localization, SLAM, smart museum, dynamic environment, motion planning, people tracking, human interaction, ubiquitous sensors. I.
e-Museum: Ambient Intelligence in a Smart Museum
"... Abstract—Access to cultural heritage is one of the contexts where Ambient Intelligence can play a significant role, improving user experience by helping users to interact with works of art. This paper presents an overview of e-Museum, a smart museum that aims to be intelligent, adapting to the chara ..."
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Cited by 1 (1 self)
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Abstract—Access to cultural heritage is one of the contexts where Ambient Intelligence can play a significant role, improving user experience by helping users to interact with works of art. This paper presents an overview of e-Museum, a smart museum that aims to be intelligent, adapting to the characteristics of each visitor and allowing a natural interaction with the works of art. The main parts of e-Museum are highlighted, paying special attention to their contributions.
Long-term Robot Mapping in Dynamic Environments
, 2011
"... One of the central goals in mobile robotics is to develop a mobile robot that can construct a map of an initially unknown dynamic environment. This is often referred to as the Si-multaneous Localization and Mapping (SLAM) problem. A number of approaches to the SLAM problem have been successfully dev ..."
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Cited by 1 (0 self)
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One of the central goals in mobile robotics is to develop a mobile robot that can construct a map of an initially unknown dynamic environment. This is often referred to as the Si-multaneous Localization and Mapping (SLAM) problem. A number of approaches to the SLAM problem have been successfully developed and applied, particularly to a mobile robot constructing a map of a 2D static indoor environment. While these methods work well for static environments, they are not robust to dynamic environments which are com-plex and composed of numerous objects that move at wide-varying time-scales, such as people or office furniture. The problem of maintaining a map of a dynamic environment is important for both real-world applications and for the advancement of robotics. A mobile robot executing extended missions, such as autonomously collecting data underwater for months or years, must be able to reliably know where it is, update its map as the environment changes, and recover from mistakes. From a fundamental perspective, this work is important in order to understand and determine the problems that occur with existing mapping techniques
Access to cultural heritage through e-Museum’s tour guide robot
"... Abstract — Access to cultural heritage is one of the contexts where Ambient Intelligence can play a significant role, making visitors ’ experience more appealing. This paper presents an overview of an autonomous robot guide in e-Museum, a smart museum that aims to be intelligent, adapting to the cha ..."
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Abstract — Access to cultural heritage is one of the contexts where Ambient Intelligence can play a significant role, making visitors ’ experience more appealing. This paper presents an overview of an autonomous robot guide in e-Museum, a smart museum that aims to be intelligent, adapting to the characteristics of each tourist and allowing a natural interaction with the works of art and our social robot. We also present an accurate EKF-localization, reliable navigation techniques with environment builder, path planning and reactive obstacle avoidance that order the motion command, and a people tracking-interaction module to achieve this gregarious tour guide. The last module is the key issue as allows the robot to know where visitors are in every moment and behave in a social manner since it adjusts to tourists preferences. Our robot guide with its two operating modes provides a friendly human-like interplay. Keywords- Social mobile robots, localization, access to cultural resources, smart museum, dynamic environment, motion planning, people tracking, human interaction, ubiquitous sensors. I.
