Bilateral control of a robotic arm through brain signals

Abstract

This work presents the design of a bilateral teleoperation system for a robotic arm, allowing people with upper limb impairments to move and manipulate objects through brain signals. The person receives visual feedback from the remote site, and it sends position commands and movement velocity to the slave. The desired velocity of the end-effector is considered as a function of the disregard of the person to move the robotic arm. Additionally, the singular configuration prevention through the system’s manipulability control is considered. Finally, the simulation results are reported to verify the performance of the proposed system.