Brain-Computer Interface meets ROS: A robotic approach to mentally drive telepresence robots
This work addresses improving quality of life for disabled or elderly individuals by enabling mental control of robots, though it is incremental as it builds on existing BCI and ROS technologies.
The paper tackles the problem of controlling telepresence robots for people with severe physical disabilities by integrating a non-invasive Brain-Computer Interface (BCI) with the Robot Operating System (ROS), resulting in reduced cognitive workload and fewer commands needed for tasks.
This paper shows and evaluates a novel approach to integrate a non-invasive Brain-Computer Interface (BCI) with the Robot Operating System (ROS) to mentally drive a telepresence robot. Controlling a mobile device by using human brain signals might improve the quality of life of people suffering from severe physical disabilities or elderly people who cannot move anymore. Thus, the BCI user is able to actively interact with relatives and friends located in different rooms thanks to a video streaming connection to the robot. To facilitate the control of the robot via BCI, we explore new ROS-based algorithms for navigation and obstacle avoidance, making the system safer and more reliable. In this regard, the robot can exploit two maps of the environment, one for localization and one for navigation, and both can be used also by the BCI user to watch the position of the robot while it is moving. As demonstrated by the experimental results, the user's cognitive workload is reduced, decreasing the number of commands necessary to complete the task and helping him/her to keep attention for longer periods of time.