Architecture design for performing grasp-and-lift tasks in brain–machine-interface-based human-in-the-loop robotic system
Human-in-the-loop robotic system is an emerging technique in recent years. Human intelligence as well as machine intelligence are incorporated to accomplish tasks efficiently and effectively. However, grasp-and-lift (GAL) tasks through human–robot interactions are still a problem in an unstructured...
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doaj-14563bfd46974c8fb11f6226a9f4af4c2021-04-02T06:49:02ZengWileyIET Cyber-Physical Systems2398-33962019-04-0110.1049/iet-cps.2018.5066IET-CPS.2018.5066Architecture design for performing grasp-and-lift tasks in brain–machine-interface-based human-in-the-loop robotic systemYuchou Chang0University of Houston-DowntownHuman-in-the-loop robotic system is an emerging technique in recent years. Human intelligence as well as machine intelligence are incorporated to accomplish tasks efficiently and effectively. However, grasp-and-lift (GAL) tasks through human–robot interactions are still a problem in an unstructured environment like urban search and rescue. Human assistive GAL tasks enable robots to complete search or rescue procedures quickly and accurately. Brain–machine interface (BMI) controlled robots have demonstrated promising applications in human–robot collaborative manipulations. In this study, an architecture of human–robot team is proposed for performing GAL tasks in BMI-based human–robot systems. The proposed architecture contains several workflows from both human and robot aspects to improve performance. In addition, human brain activities are generally considered as non-stationary signals with varying spatial and temporal distributions. To enhance robustness and stability of brain-controlled robot's GAL tasks, a new method via adaptive boosting mechanism is proposed. The proposed multiple subjects' adaptive boosting is able to suppress noisy data and outliers in multiple subjects’ electroencephalogram signals, and therefore enhance accuracy and robustness of intention and sensation signal classification in GAL tasks. Preliminary results show that the new architecture is feasible with ethical establishment and the proposed method can outperform traditional methods.https://digital-library.theiet.org/content/journals/10.1049/iet-cps.2018.5066electroencephalographymedical signal processingneurophysiologylearning (artificial intelligence)medical roboticsbrain-computer interfaceshuman-robot interactionmobile robotshardware-in-the loop simulationend effectorsgrippershuman-in-the-loop robotic systemhuman intelligencemachine intelligencegrasp-and-lift taskshuman–robot interactionshuman assistive GAL tasksbrain–machine interface controlled robotshuman–robot collaborative manipulationsBMI-based human–robot systemshuman brain activitiesbrain-controlled robotbrain–machine-interface-based human-in-the-loop robotic systemnonstationary signals |
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DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Yuchou Chang |
spellingShingle |
Yuchou Chang Architecture design for performing grasp-and-lift tasks in brain–machine-interface-based human-in-the-loop robotic system IET Cyber-Physical Systems electroencephalography medical signal processing neurophysiology learning (artificial intelligence) medical robotics brain-computer interfaces human-robot interaction mobile robots hardware-in-the loop simulation end effectors grippers human-in-the-loop robotic system human intelligence machine intelligence grasp-and-lift tasks human–robot interactions human assistive GAL tasks brain–machine interface controlled robots human–robot collaborative manipulations BMI-based human–robot systems human brain activities brain-controlled robot brain–machine-interface-based human-in-the-loop robotic system nonstationary signals |
author_facet |
Yuchou Chang |
author_sort |
Yuchou Chang |
title |
Architecture design for performing grasp-and-lift tasks in brain–machine-interface-based human-in-the-loop robotic system |
title_short |
Architecture design for performing grasp-and-lift tasks in brain–machine-interface-based human-in-the-loop robotic system |
title_full |
Architecture design for performing grasp-and-lift tasks in brain–machine-interface-based human-in-the-loop robotic system |
title_fullStr |
Architecture design for performing grasp-and-lift tasks in brain–machine-interface-based human-in-the-loop robotic system |
title_full_unstemmed |
Architecture design for performing grasp-and-lift tasks in brain–machine-interface-based human-in-the-loop robotic system |
title_sort |
architecture design for performing grasp-and-lift tasks in brain–machine-interface-based human-in-the-loop robotic system |
publisher |
Wiley |
series |
IET Cyber-Physical Systems |
issn |
2398-3396 |
publishDate |
2019-04-01 |
description |
Human-in-the-loop robotic system is an emerging technique in recent years. Human intelligence as well as machine intelligence are incorporated to accomplish tasks efficiently and effectively. However, grasp-and-lift (GAL) tasks through human–robot interactions are still a problem in an unstructured environment like urban search and rescue. Human assistive GAL tasks enable robots to complete search or rescue procedures quickly and accurately. Brain–machine interface (BMI) controlled robots have demonstrated promising applications in human–robot collaborative manipulations. In this study, an architecture of human–robot team is proposed for performing GAL tasks in BMI-based human–robot systems. The proposed architecture contains several workflows from both human and robot aspects to improve performance. In addition, human brain activities are generally considered as non-stationary signals with varying spatial and temporal distributions. To enhance robustness and stability of brain-controlled robot's GAL tasks, a new method via adaptive boosting mechanism is proposed. The proposed multiple subjects' adaptive boosting is able to suppress noisy data and outliers in multiple subjects’ electroencephalogram signals, and therefore enhance accuracy and robustness of intention and sensation signal classification in GAL tasks. Preliminary results show that the new architecture is feasible with ethical establishment and the proposed method can outperform traditional methods. |
topic |
electroencephalography medical signal processing neurophysiology learning (artificial intelligence) medical robotics brain-computer interfaces human-robot interaction mobile robots hardware-in-the loop simulation end effectors grippers human-in-the-loop robotic system human intelligence machine intelligence grasp-and-lift tasks human–robot interactions human assistive GAL tasks brain–machine interface controlled robots human–robot collaborative manipulations BMI-based human–robot systems human brain activities brain-controlled robot brain–machine-interface-based human-in-the-loop robotic system nonstationary signals |
url |
https://digital-library.theiet.org/content/journals/10.1049/iet-cps.2018.5066 |
work_keys_str_mv |
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