Design and Implementation of a Behavioral Sequence Framework for Human-robot Interaction Utilizing Brain-computer Interface and Haptic Feedback

Sudip Hazra, Shane Whitaker, P. Shiakolas
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Abstract

In assistive robotics, research in Brain-Computer-Interface aims to understand human intent with the goal to enhance Human-Robot-Interaction. In this research, a framework to enable a person with an upper limb disability to use an assistive system and maintain self-reliance is introduced and its implementation and evaluation are discussed. The framework interlinks functional components and establishes a behavioral sequence to operate the assistive system in three stages; action classification, verification, and execution. An action is classified based on identified human intent and verified through haptic and/or visual feedback before execution. The human intent is conveyed through facial expressions and verification through head movements. The interlinked functional components are an EEG sensing device, a head movement recorder, a dual-purpose glove, a visual feedback environment, and a robotic arm. The ability of the system to recognize a facial expression, time required to respond using head movements, convey information through vibrotactile feedback effects, and the ability to follow the established behavioral sequence are evaluated. Based on the evaluation, personalized training data set should be used to calibrate facial expression recognition and define the time required to respond during verification. Custom vibrotactile effects were effective in conveying system information to the user. Initial evaluation of the developed framework using three volunteers exhibited a 100% success rate in their ability to follow the behavioral sequence and control the system providing confidence to recruit more volunteers to identify and address improvements and expand the operational capability of the framework.
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基于脑机接口和触觉反馈的人机交互行为序列框架的设计与实现
在辅助机器人中,脑机接口的研究旨在理解人的意图,以增强人与机器人的交互。在本研究中,介绍了一个框架,使上肢残疾者能够使用辅助系统并保持自力更生,并讨论了其实施和评估。该框架将功能组件相互连接,并建立了三个阶段的辅助系统运行行为序列;动作分类、验证和执行。动作是基于识别的人类意图进行分类,并在执行前通过触觉和/或视觉反馈进行验证。人类的意图通过面部表情传达,并通过头部动作验证。相互连接的功能组件是一个脑电图传感装置,一个头部运动记录仪,一个两用手套,一个视觉反馈环境和一个机械臂。系统识别面部表情的能力、通过头部运动做出反应所需的时间、通过振动触觉反馈效果传达信息的能力以及遵循既定行为序列的能力都将被评估。在评估的基础上,使用个性化的训练数据集来校准面部表情识别,并定义验证过程中响应所需的时间。自定义振动触觉效果在向用户传达系统信息方面是有效的。使用三名志愿者对开发的框架进行的初步评估显示,他们遵循行为顺序和控制系统的能力的成功率为100%,这为招募更多志愿者来识别和解决改进问题并扩展框架的操作能力提供了信心。
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