EEG signal implementation of movement intention for the teleoperation of the mobile differential robot

Abstract

In the year 1929 a German psychiatrist, named Hans Berger, demonstrated for the first time that the electric activity of the human brain was related to the person’s mental state. He also announced the possibility of registering such type of electric activities without opening the human head, i.e. non invasive procedure, and that such electric activities could be plotted on a graph. Berger called such type of registration as electroencephalogram (EEG). EEG signals research has been growing over the years due to the their increasing use to control electronic devices in all sorts of contexts. The present work developed a prototype to control a differential robot by means of EEG signals using the detection of movement intention of the right and left hand. The study covered on one hand, the analysis and design of the teleoperation system, and on the other hand, the robot tele operational tests. It is important to point out that the robot was designed and built to meet the technical research purposes. The programming of the EEG signal processing was made using the API provided by MATLAB. In turn, the programming for controlling the mobile differential robot wasmade withWiring and Python. Lastly, several tests and experiments were carried out, and they showed that the objective in view was met.