지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
초록· 키워드
오류제보하기
It is being tried to control robot arm using brain signal in the field of brain-machine interface (BMI). Thisstudy is focused on applying guidance laws for efficient robot arm control using 3D coordinates obtained from Magnetoencephalography(MEG) signal which represents movement of upper limb. The 3D coordinates obtained frombrain signal is inappropriate to be used directly because of the spatial difference between human upper limb and robotarm’s end-effector. The spatial difference makes the robot arm to be controlled from a third-person point of view withassist of visual feedback. To resolve this inconvenience, guidance laws which are frequently used for tactical ballisticmissile are applied. It could be applied for the users to control robot arm from a first-person point of view whichis expected to be more comfortable. The algorithm which enables robot arm to trace MEG signal is provided in thisstudy. The algorithm is simulated and applied to 6-DOF robot arm for verification. The result was satisfactory anddemonstrated a possibility in decreasing the training period and increasing the rate of success for certain tasks suchas gripping object.
목차
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참고문헌 (7)
참고문헌 신청
D. J. Berndt. / 1994 / Using Dynamic Time Warping to Find Patterns in Time Series / in Proc. AAAI-94 Workshop on Knowledge Discovery in Databases, Seattle, Washington : 359 ~ 370
E. Berglund / 2000 / Guidance., Control Technology / in Proc. RTO SCI Lecture Series on “Technologies for Furure Precision Strike Missile Systems”, Atlanta : 3-1 ~ 3-15
J. L. Collinger. / 2012 / High-performance neuroprosthetic control by an individual with tetraplegia / The Lancet 381 : 557 ~ 564
L. R. Hochberg. / 2012 / Reach and grasp by people with tetraplegia using a neurally controlled robotic arm / Nature 485 : 372 ~ 375
M. A. Lebedev. / 2006 / Brain-machine interfaces : past, present and future / TRENDS in Neurosciences 29 (9) : 536 ~ 546
E. Berglund / 2000 / Guidance., Control Technology / in Proc. RTO SCI Lecture Series on “Technologies for Furure Precision Strike Missile Systems”, Atlanta : 3-1 ~ 3-15
J. L. Collinger. / 2012 / High-performance neuroprosthetic control by an individual with tetraplegia / The Lancet 381 : 557 ~ 564
L. R. Hochberg. / 2012 / Reach and grasp by people with tetraplegia using a neurally controlled robotic arm / Nature 485 : 372 ~ 375
M. A. Lebedev. / 2006 / Brain-machine interfaces : past, present and future / TRENDS in Neurosciences 29 (9) : 536 ~ 546
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