Robot Manipulator Operation based on Human Brain-Wave Signal”

Robot Manipulator Operation based on Human Brain-Wave Signal”

Abstract

Brain waves are representative sensory signals of the human body and exhibit different frequencies depending on a person’s emotional state. In this presentation, the author discusses the operation of a robot manipulator by brain waves and evaluate its motion experimentally. When people look at a comfortable scene or feel relaxed, their brain waves generally exhibit a -wave signal in the frequency band of approximately 8 to 13 Hz. In such conditions, these a waves particularly exhibit a 1/f fluctuation (in which the corresponding power is inversely proportional to the frequency “f ”) which is said to be a comfortable fluctuation for humans.

With this background into consideration, we input the 1/f a -wave signals obtained from test subjects listening comfortable music to a robot manipulator by controlling the angle of each joint. To evaluate this motion, questionnaires were filled in by twenty test subjects while they watched two types of manipulator motion: a 1/f motion and a white noise-like motion. It was suggested from the test that 90% of people felt comfortable with the 1/f manipulator motion.