Interface for Mobile Feeding Assistive Robotic Arm

2015 Fiscal Year Final Research Report

• Project/Area Number: 25350671
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Research Field: Rehabilitation science/Welfare engineering
• Research Institution: University of the Ryukyus
• Principal Investigator: Higa Hiroki 琉球大学, 工学部, 教授 (60295300)
• Project Period (FY): 2013-04-01 – 2016-03-31
• Keywords: ロボットアーム / 食事支援 / 神経疾患 / インタフェース / 脳波 / 眼球運動

Outline of Final Research Achievements

We have developed a user-interface for a mobile robotic arm in this study. We made a visual stimulus program that one of four triangles was randomly turned white in a computer monitor. Six able-bodied volunteers participated in the experiments. EEG signals were recorded from the scalp, amplified, sampled, and bandpass-filtered. Each subject was required to silently count white triangle. Some features, event-related potentials P300 and N100, were extracted from the averaged waveforms, and the total of classification accuracy across subjects of 95.8 % was obtained using artificial neural network.
A vision-based user interface was also considered. The user interface consists of a single web camera to obtain user’s eye movements, computer running a detection program of the center of the iris and pupil from the captured images. An able-bodied subject could operate the proposed user interface without any difficulty. The interface allows user to support to select one of foods on a table.

Free Research Field

生体医工学