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KMID : 1137820140350030050
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의공학회지
2014 Volume.35 No. 3 p.50 ~ p.54
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A Study on Applying Guidance Laws in Developing Algorithm which Enables Robot Arm to Trace 3D Coordinates Derived from Brain Signal
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Kim Y.-J.
Park Sung-Woo
Kim W.-S.
Yeom H.-G.
Seo Han-Gil
Lee Y.-W.
Bang Moon-Suk
Chung Chun-Kee
Oh Byung-Mo
Kim June-Sic
Kim Y.
Kim S.
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Abstract
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It is being tried to control robot arm using brain signal in the field of brain-machine interface (BMI). This study 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 from brain signal is inappropriate to be used directly because of the spatial difference between human upper limb and robot arm’s end-effector. The spatial difference makes the robot arm to be controlled from a third-person point of view with assist of visual feedback. To resolve this inconvenience, guidance laws which are frequently used for tactical ballistic missile are applied. It could be applied for the users to control robot arm from a first-person point of view which is expected to be more comfortable. The algorithm which enables robot arm to trace MEG signal is provided in this study. The algorithm is simulated and applied to 6-DOF robot arm for verification. The result was satisfactory and demonstrated a possibility in decreasing the training period and increasing the rate of success for certain tasks such as gripping object.
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KEYWORD
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Brain Signal, Brain-Machine Interface (BMI), Robot Arm, Guidance Law
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