Controlling Robots with Non-Invasive Brain-Computer Interfaces Elliott Forney Colorado State University Brain-Computer Interfaces Group February 21, 2013 1 / 11
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Controlling Robots with
Non-Invasive Brain-Computer Interfaces
Elliott Forney
Colorado State UniversityBrain-Computer Interfaces Group
February 21, 2013
1 / 11
Brain-Computer Interfaces
Brain-Computer Interface (BCI)
Direct channel of between brain and machine
Voluntary changes in mental state
Bypasses innate motor-based means of communication
2 / 11
Brain-Computer Interfaces
Brain-Computer Interface (BCI)
Direct channel of between brain and machine
Voluntary changes in mental state
Bypasses innate motor-based means of communication
2 / 11
Uses for BCI
BCI have many potential uses
Reestablish communication with people who are Locked-in
ALS, stroke, traumatic brain injury
Assistive technology
electric wheelchairs, computers, telephones
Everyday devices
video games, monitoring emotional states
Driving kewl robots around the lab with your mind!
3 / 11
Uses for BCI
BCI have many potential uses
Reestablish communication with people who are Locked-in
ALS, stroke, traumatic brain injury
Assistive technology
electric wheelchairs, computers, telephones
Everyday devices
video games, monitoring emotional states
Driving kewl robots around the lab with your mind!
3 / 11
Uses for BCI
BCI have many potential uses
Reestablish communication with people who are Locked-in
ALS, stroke, traumatic brain injury
Assistive technology
electric wheelchairs, computers, telephones
Everyday devices
video games, monitoring emotional states
Driving kewl robots around the lab with your mind!
3 / 11
Uses for BCI
BCI have many potential uses
Reestablish communication with people who are Locked-in
ALS, stroke, traumatic brain injury
Assistive technology
electric wheelchairs, computers, telephones
Everyday devices
video games, monitoring emotional states
Driving kewl robots around the lab with your mind!
3 / 11
Uses for BCI
BCI have many potential uses
Reestablish communication with people who are Locked-in
ALS, stroke, traumatic brain injury
Assistive technology
electric wheelchairs, computers, telephones
Everyday devices
video games, monitoring emotional states
Driving kewl robots around the lab with your mind!
3 / 11
Electroencephalography
Electroencephalography (EEG) to measure brain activity
Non-invasive, portable, relatively inexpensive
Superficial & noisy signals
Time (s)
FP1
FP2
F3
F4
C3
C4
P3
P4
O1
O2
F7
T3
T4
T5
T6
CZ
FZ
PZ
0 1 2 3 4 5
4 / 11
Electroencephalography
Electroencephalography (EEG) to measure brain activity
Non-invasive, portable, relatively inexpensive
Superficial & noisy signals
Time (s)
FP1
FP2
F3
F4
C3
C4
P3
P4
O1
O2
F7
T3
T4
T5
T6
CZ
FZ
PZ
0 1 2 3 4 5
4 / 11
Electroencephalography
Electroencephalography (EEG) to measure brain activity
Non-invasive, portable, relatively inexpensive
Superficial & noisy signals
Time (s)
FP1
FP2
F3
F4
C3
C4
P3
P4
O1
O2
F7
T3
T4
T5
T6
CZ
FZ
PZ
0 1 2 3 4 5
4 / 11
Machine Learning & Pattern Analysis
Machine Learning algorithms identify patterns in EEG
This is extremely difficult because
different for each person
change over time
noise & artifacts
the brain is complex!
6 7 8 9 10
Time (s)
Sig
na
l
EEG
RNN
−3
−1
13
5 / 11
Machine Learning & Pattern Analysis
Machine Learning algorithms identify patterns in EEG
This is extremely difficult because
different for each person
change over time
noise & artifacts
the brain is complex!
6 7 8 9 10
Time (s)
Sig
na
l
EEG
RNN
−3
−1
13
5 / 11
Synchronous BCI
Some BCI use patterns associated with external stimuli
P300 speller is an example
User looks for a specific character in a series or grid of
flashing characters
6 / 11
Synchronous BCI
Some BCI use patterns associated with external stimuli
P300 speller is an example
User looks for a specific character in a series or grid of
flashing characters
6 / 11
Asynchronous BCI
Other BCI do not require
external stimuli
Mental Tasks is an
example
Imagine left arm moving
moves to the left while
silently singing a song
moves to the right
7 / 11
Asynchronous BCI
Other BCI do not require
external stimuli
Mental Tasks is an
example
Imagine left arm moving
moves to the left while
silently singing a song
moves to the right
7 / 11
Robots
Controlling robots is a first step toward real-world
applications
Drive a robot before an electric wheelchair
Demonstrates that user has control
Just plain fun!
8 / 11
Robots
Controlling robots is a first step toward real-world
applications
Drive a robot before an electric wheelchair
Demonstrates that user has control
Just plain fun!
8 / 11
Ideas for Robot Club, I
Current robot module is hacked together but better
systems to come.
Some ideas for robot club to start on
Streaming video through sockets, to python
Better user interfaces
Fluid control
How far to move
Control gripper
9 / 11
Ideas for Robot Club, I
Current robot module is hacked together but better
systems to come.
Some ideas for robot club to start on
Streaming video through sockets, to python
Better user interfaces
Fluid control
How far to move
Control gripper
9 / 11
Ideas for Robot Club, I
Current robot module is hacked together but better
systems to come.
Some ideas for robot club to start on
Streaming video through sockets, to python
Better user interfaces
Fluid control
How far to move
Control gripper
9 / 11
Ideas for Robot Club, I
Current robot module is hacked together but better
systems to come.
Some ideas for robot club to start on
Streaming video through sockets, to python
Better user interfaces
Fluid control
How far to move
Control gripper
9 / 11
Ideas for Robot Club, II
Safety systems
Don’t hit a wall
Don’t go down stairs
Hybrid control
Turn away from walls
Move toward objects
10 / 11
Ideas for Robot Club, II
Safety systems
Don’t hit a wall
Don’t go down stairs
Hybrid control
Turn away from walls
Move toward objects
10 / 11
Thanks!
11 / 11
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