Teleoperation of an Industrial Manipulator Through a TCP/IP Channel Using EEG Signals

Abstract

This paper presents an industrial manipulator teleoperated via TCP/IP using a Brain Computer Interface (BCI). Through a BCI based on Event Related Potentials (ERD and ERS), the operator is capable to select a position on the manipulator's workspace, that should be reached by the manipulator. A pose controller is executed on a remote PC and when new references are received, the controller calculates the necessary control actions so that the manipulator reaches the desired position. A bio-feedback link is closed through the operator watching to a visual interface, allowing him/her to visualize the manipulator's workspace and the movements being executed. Besides the application of the BCI, the paper also shows how versatile it is, stressing features like its easy integration with robotic devices, its low cost and the short training time it requires.