EEG-controlled tele-grasping for undefined objects
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Kim, Minki | - |
dc.contributor.author | Choi, Myoung-Su | - |
dc.contributor.author | Jang, Ga-Ram | - |
dc.contributor.author | Bae, Ji-Hun | - |
dc.contributor.author | Park, Hyung-Soon | - |
dc.date.accessioned | 2024-04-04T02:30:31Z | - |
dc.date.available | 2024-04-04T02:30:31Z | - |
dc.date.issued | 2023-12 | - |
dc.identifier.issn | 1662-5218 | - |
dc.identifier.uri | https://scholarworks.bwise.kr/erica/handle/2021.sw.erica/118429 | - |
dc.description.abstract | This paper presents a teleoperation system of robot grasping for undefined objects based on a real-time EEG (Electroencephalography) measurement and shared autonomy. When grasping an undefined object in an unstructured environment, real-time human decision is necessary since fully autonomous grasping may not handle uncertain situations. The proposed system allows involvement of a wide range of human decisions throughout the entire grasping procedure, including 3D movement of the gripper, selecting proper grasping posture, and adjusting the amount of grip force. These multiple decision-making procedures of the human operator have been implemented with six flickering blocks for steady-state visually evoked potentials (SSVEP) by dividing the grasping task into predefined substeps. Each substep consists of approaching the object, selecting posture and grip force, grasping, transporting to the desired position, and releasing. The graphical user interface (GUI) displays the current substep and simple symbols beside each flickering block for quick understanding. The tele-grasping of various objects by using real-time human decisions of selecting among four possible postures and three levels of grip force has been demonstrated. This system can be adapted to other sequential EEG-controlled teleoperation tasks that require complex human decisions. | - |
dc.format.extent | 15 | - |
dc.language | 영어 | - |
dc.language.iso | ENG | - |
dc.publisher | Frontiers Media S.A. | - |
dc.title | EEG-controlled tele-grasping for undefined objects | - |
dc.type | Article | - |
dc.publisher.location | 스위스 | - |
dc.identifier.doi | 10.3389/fnbot.2023.1293878 | - |
dc.identifier.scopusid | 2-s2.0-85181199145 | - |
dc.identifier.wosid | 001134027300001 | - |
dc.identifier.bibliographicCitation | Frontiers in Neurorobotics, v.17, pp 1 - 15 | - |
dc.citation.title | Frontiers in Neurorobotics | - |
dc.citation.volume | 17 | - |
dc.citation.startPage | 1 | - |
dc.citation.endPage | 15 | - |
dc.type.docType | 정기학술지(Article(Perspective Article포함)) | - |
dc.description.isOpenAccess | Y | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.relation.journalResearchArea | Computer Science | - |
dc.relation.journalResearchArea | Robotics | - |
dc.relation.journalResearchArea | Neurosciences & Neurology | - |
dc.relation.journalWebOfScienceCategory | Computer Science, Artificial Intelligence | - |
dc.relation.journalWebOfScienceCategory | Robotics | - |
dc.relation.journalWebOfScienceCategory | Neurosciences | - |
dc.subject.keywordPlus | TELEOPERATION | - |
dc.subject.keywordAuthor | brain-machine (computer) interface | - |
dc.subject.keywordAuthor | electroencephalogram (EEG) | - |
dc.subject.keywordAuthor | human-robot collaboration | - |
dc.subject.keywordAuthor | steady-state visual evoked potential (SSVEP) | - |
dc.subject.keywordAuthor | telerobotics and teleoperation | - |
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