People with severe disabilities require assistance to perform their routine activities; a Human-Machine Interface (HMI) will allow them to activate devices that respond according to their needs. In this work, an HMI based on electrooculography (EOG) is presented, the instrumentation is placed on portable glasses that have the task of acquiring both horizontal and vertical EOG signals. The registration of each eye movement is identified by a class and categorized using the one hot encoding technique to test precision and sensitivity of different machine learning classification algorithms capable of identifying new data from the eye registration; the algorithm allows to discriminate blinks in order not to disturb the acquisition of the eyeball position commands. The implementation of the classifier consists of the control of a three-wheeled omnidirectional robot to validate the response of the interface. This work proposes the classification of signals in real time and the customization of the interface, minimizing the user's learning curve. Preliminary results showed that it is possible to generate trajectories to control an omnidirectional robot to implement in the future assistance system to control position through gaze orientation.

Download full-text PDF

Source
http://www.ncbi.nlm.nih.gov/pmc/articles/PMC8434373PMC
http://dx.doi.org/10.3390/s21175882DOI Listing

Publication Analysis

Top Keywords

omnidirectional robot
12
human-machine interface
8
machine learning
8
eog signals
8
control omnidirectional
8
interface multiclass
4
multiclass classification
4
classification machine
4
learning eog
4
control
4

Similar Publications

The rapid development of wireless power transfer (WPT) technology has provided new avenues for supplying continuous and stable power to capsule robots. In this article, we propose a two-dimensional omnidirectional wireless power transfer (OWPT) system, which enables power to be transmitted effectively in multiple spatial directions. This system features a three-dimensional transmitting structure with a Helmholtz coil and saddle coil pairs, combined with a one-dimensional receiving structure.

View Article and Find Full Text PDF

Research on Omnidirectional Gait Switching and Attitude Control in Hexapod Robots.

Biomimetics (Basel)

November 2024

School of Electronic and Electrical Engineering, Shanghai University of Engineering Science, Shanghai 201620, China.

To tackle the challenges of poor stability during real-time random gait switching and precise trajectory control for hexapod robots under limited stride and steering conditions, a novel real-time replanning gait switching control strategy based on an omnidirectional gait and fuzzy inference is proposed, along with an attitude control method based on the single-neuron adaptive proportional-integral-derivative (PID). To start, a kinematic model of a hexapod robot was developed through the Denavit-Hartenberg (D-H) kinematics analysis, linking joint movement parameters to the end foot's endpoint pose, which formed the foundation for designing various gaits, including omnidirectional and compound gaits. Incorporating an omnidirectional gait could effectively resolve the challenge of precise trajectory control for the hexapod robot under limited stride and steering conditions.

View Article and Find Full Text PDF

Omnidirectional Bending Sensor with Bianisotropic Structure for Wearable Electronics.

ACS Sens

December 2024

School of System Design and Intelligent Manufacturing, Southern University of Science and Technology, Taoyuan, Shenzhen, 518000 Guangdong, China.

Bending sensors are critical to the advancement of wearable electronics and can be applied in the dynamic monitoring of flexible object morphology. However, current bending sensors are constrained by sensing range and precision, especially in full-range detection. The maximum sensing range of existing flexible bending sensors is 0-240°.

View Article and Find Full Text PDF

Self-healing actuatable electroluminescent fibres.

Nat Commun

December 2024

Department of Materials Science and Engineering, National University of Singapore, Singapore, Singapore.

Alternating-current electroluminescent fibres are promising candidates as light sources for smart textiles and soft machines. However, physical damage from daily use causes device deterioration or failure, making self-healable electroluminescent fibres attractive. In addition, soft robots could benefit from light-emitting combined with magnetically actuated functions.

View Article and Find Full Text PDF

Programmable Robotic Shape Shifting and Color Morphing Dynamics Through Magneto-Mechano-Chromic Coupling.

Adv Mater

December 2024

The State Key Laboratory of High Performance Ceramics and Superfine Microstructure, Shanghai Institute of Ceramics, Chinese Academy of Science, Shanghai, 200050, China.

Article Synopsis
  • Creating a compact structure that mimics the shape-shifting and color-changing abilities of natural organisms presents challenges but offers new possibilities for hybrid robotic and visual applications.
  • The development of the Soft Magneto-Mechano-Chromic (SoMMeC) structure allows for real-time and programmable changes in color and shape, enabling advanced interactions between robots, environments, and users.
  • The SoMMeC technology features quick color transformations across the visible spectrum and can be used in various applications such as advertising, camouflage, and advanced robotics, ultimately making systems more flexible and capable.
View Article and Find Full Text PDF

Want AI Summaries of new PubMed Abstracts delivered to your In-box?

Enter search terms and have AI summaries delivered each week - change queries or unsubscribe any time!