Valeri Mladenov
ABSTRACT
The research of the brain and how it works is a hot topic and gaining popularity in recent years. Therefore, it is not surprising that more and more researchers, as well as young scientists, are interested in trying to connect different hardware with brain activity -- mind-controlled cars, planes, robots. In this presentation, a brief overview of how to record and proceed with the brain activity signals will be given. Special attention will be done on the developed brain activity management system that can successfully control "Baxter" [1] and "Nao v5" [2] robots. The system uses the Emotiv Epoc+ electroencephalograph [3] (EEG) to capture real-time brain activity. The hardware follows the International 10-20 Electrode Positioning System[4].
In order to achieve control with the mind, a user must create their own profile. This profile stores that user's specific personal brain activity data because each person has very unique brain activity. First, a neutral level of brain activity [5] must be recorded and then it is necessary to train the various commands to the robots. The current version of the system allows distinguishing between 5 different commands. The first command is relatively easy to train. But with each other successfully trained command it becomes more difficult to distinguish the individual command from the others. Training is done through a virtual cube, so over a period of time, a person can learn to control their brain activity. It can be moved in different directions, and if a person has a highly developed imagination, they can even make the cube disappear.
The EEG data [6] from the device is processed and compared with that of the user's profile. When there is a coincidence between both the data from the device and the data already trained by the user, the command is sent to the robot in real-time for execution. Specially written Python scripts [7] are used to make the connection between Emotive Epoc + and the robots.
Each robot can perform up to 5 different commands individually -- four movement commands and one command to return the robots to a neutral position. The results depend mainly on how well the system is trained and how long the training is done. With enough training time and the appropriate training methods, each of the five commands can be distinguished and executed. For comparison on average, most users manage to train up to 3 different commands correctly.
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Index Terms
- Control of various robots through signals from the brain activity
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