N. Moustakas
ABSTRACT
MERCURY is a robotic platform comprised of two mechatronic robotic arm manipulators, a body machine interface (BMI) in the form of a wearable hardware sensor sleeve and a brain computer interface (BCI). It is a prototype system primarily aimed at research in human-robotic interfaces, medical rehabilitation and assistive technologies for patients with Spinal Cord Injury. This paper discusses improvements implemented in the second generation of the system, following evaluation of results obtained from pilot testing the first generation robotic setup. The system now integrates two of the second generation MERCURY robotic arms. The main improvements are digitization of control signals, the addition of anthropomorphic hands in place of pincers, two additional degrees of freedom, improved telecommunications and BCI control.
- Moustakas, N., Athanasiou, A., Kartsidis, P., Bamidis, P. D. and Astaras, A. 2014. Development and user assessment of a body-machine interface for a hybrid-controlled 6-degree of freedom robotic arm (MERCURY). In Roa Romero, L, M. (ed) Proceedings of the XIII Mediterranean Conference on Medical and Biological Engineering and Computing 2013 (Seville, Spain, September 25-28, 2013). MEDICON '13, Springer, 65--68. DOI= http://dx.doi.org/10.1007/978-3-319-00846-2_16.Google Scholar
- Astaras, A., Moustakas, A., Athanasiou, A. and Gogoussis, A. 2013. Towards Brain-Computer Interface Control of a 6-Degree-of-Freedom Robotic Arm Using Dry EEG Electrodes. Adv. Hum. Com. Inter. 2013 (Apr. 2013), 641074. DOI= http://dx.doi.org/10.1155/2013/641074. Google ScholarDigital Library
- Christ, O. and Reiner, M. 2014. Perspectives and possible applications of the rubber hand and virtual hand illusion in non-invasive rehabilitation: Technological improvements and their consequences. Neurosci.Biobehav. Rev.44 (Jul. 2014), 33--44. DOI= http://dx.doi.org/10.1016/j.neubiorev.2014.02.013.Google ScholarCross Ref
- Bartneck, C., Kulić, D., Croft, E. and Zoghbi, S. 2009. Measurement instruments for the anthropomorphism, animacy, likeability, perceived intelligence, and perceived safety of robots. Int. J. Soc. Rob. 1 (Jan. 2009), 71--81. DOI=http://dx.doi.org/10.1007/S12369-008-0001-3.Google Scholar
- Fong, T., Nourbakhsh, I. and Dautenhahn, K. 2003. A survey of socially interactive robots.Robot. Auton. Syst.42 (Mar. 2003),143--166. DOI= http://dx.doi.org/10.1016/S0921-8890(02)00372-X.Google Scholar
- Dautenhahn, K. 2007. Methodology and themes of human-robot interaction: a growing research field. Int. J. Adv. Robot. Syst. 4(Jan. 2007), 103--108. DOI= http://dx.doi.org/10.5772/5702.Google ScholarCross Ref
- Goodrich, M. A. and Schultz, A. C. 2007. Human-robot interaction: a survey. Foundations and trends in human-computer interaction. 1(Feb. 2007), 203--275. DOI= http://dx.doi.org/10.1561/1100000005 Google ScholarDigital Library
- Popescu, F., Fazli, S., Badower, Y., Blankertz, B. and Müller, K. R. 2007. Single trial classification of motor imagination using 6 dry EEG electrodes. PloS One. 2(Jul. 2007), e637. DOI= http://dx.doi.org/10.1371/journal.pone.0000637Google Scholar
- CSI:Brainwave, Brainwave control of a wearable robotic arm for rehabilitation and neurophysiological study in Cervical Spine Injury, http://medphys.med.auth.gr/content/csi-brainwaveGoogle Scholar
Index Terms
- Development of MERCURY version 2.0 robotic arms for rehabilitation applications
Recommendations
Interactive Teleoperation Interface for Semi-autonomous Control of Robot Arms
CRV '14: Proceedings of the 2014 Canadian Conference on Computer and Robot VisionWe propose and develop an interactive semi-autonomous control of robot arms. Our system controls two interactions: (1) A user can naturally control a robot arm by a direct linkage to the arm motion from the tracked human skeleton. (2) An autonomous ...
An open-source multi-DOF articulated robotic educational platform for autonomous object manipulation
This research presents an autonomous robotic framework for academic, vocational and training purpose. The platform is centred on a 6 Degree Of Freedom (DOF) serial robotic arm. The kinematic and dynamic models of the robot have been derived to ...
Engineered Devices to Support Stroke Rehabilitation
CSCS '13: Proceedings of the 2013 19th International Conference on Control Systems and Computer ScienceHemiparesis is a frequent outcome of brain damage (e.g., after stroke). There is a diversity of rehabilitation systems which have been designed for restoring the upper or lower limb functions in individuals with disabilities resulting from spinal cord ...
Comments