Human–Robot Interaction Interface

Human–robot interaction is an advanced technology and plays an increasingly important role in robot applications. This chapter first gives a brief introduction to various human–robot interfaces and several technologies of human–robot interaction using visual sensors and electroencephalography (EEG) signals. Next, a hand gesture-based robot control system is developed using Leap Motion, with noise suppression, coordinate transformation, and inverse kinematics. Then, another hand gesture control, which is one of natural user interfaces, is then developed based on a parallel system. ANFIS and SVM algorithms are employed to realize the classification. We also investigate controlling the commercialized Spykee mobile robot using EEG signals transmitted by the Emotiv EPOC neuroheadset. The Emotiv headset is connected to the OpenViBE to control a virtual manipulator moving in 3D Cartesian space, using a P300 speller.

[1]  Alex Pentland,et al.  Real-time American Sign Language recognition from video using hidden Markov models , 1995 .

[2]  Rieko Osu,et al.  The central nervous system stabilizes unstable dynamics by learning optimal impedance , 2001, Nature.

[3]  J J Vidal,et al.  Toward direct brain-computer communication. , 1973, Annual review of biophysics and bioengineering.

[4]  Fabien Lotte,et al.  Les interfaces cerveau-ordinateur. Conception et utilisation en réalité virtuelle , 2012, Tech. Sci. Informatiques.

[5]  Yijun Wang,et al.  Brain-Computer Interfaces Based on Visual Evoked Potentials , 2008, IEEE Engineering in Medicine and Biology Magazine.

[6]  Ming Ouhyoung,et al.  A sign language recognition system using hidden markov model and context sensitive search , 1996, VRST.

[7]  Wang Feiyue,et al.  Parallel system methods for management and control of complex systems , 2004 .

[8]  Rabab K Ward,et al.  A survey of signal processing algorithms in brain–computer interfaces based on electrical brain signals , 2007, Journal of neural engineering.

[9]  Francesco Piccione,et al.  Task and Stimulation Paradigm Effects in a P300 Brain Computer Interface Exploitable in a Virtual Environment: A Pilot Study , 2008, PsychNology J..

[10]  M. Kawato,et al.  Two is better than one: Physical interactions improve motor performance in humans , 2014, Scientific Reports.

[11]  Siddhartha S. Srinivasa,et al.  Effects of Robot Motion on Human-Robot Collaboration , 2015, 2015 10th ACM/IEEE International Conference on Human-Robot Interaction (HRI).

[12]  Yael Edan,et al.  Vision-based hand-gesture applications , 2011, Commun. ACM.

[13]  David M. Santucci,et al.  Learning to Control a Brain–Machine Interface for Reaching and Grasping by Primates , 2003, PLoS biology.

[14]  Chih-Jen Lin,et al.  LIBSVM: A library for support vector machines , 2011, TIST.

[15]  Aude Billard,et al.  Learning Compliant Manipulation through Kinesthetic and Tactile Human-Robot Interaction , 2014, IEEE Transactions on Haptics.

[16]  Anil K. Jain,et al.  Face Detection in Color Images , 2002, IEEE Trans. Pattern Anal. Mach. Intell..

[17]  Guangyi Shi,et al.  Towards Multi-Classification of Human Motions Using Micro IMU and SVM Training Process , 2009 .

[18]  Vincenzo Morabito.  Big Data Driven Business Models , 2015 .

[19]  Yael Edan,et al.  Human-robot collaboration for improved target recognition of agricultural robots , 2003, Ind. Robot.

[20]  Xue Xi-mei.  Research on Augmented Reality Based Teleoperation System , 2004 .

[21]  Alin Albu-Schäffer,et al.  Interaction Force, Impedance and Trajectory Adaptation: By Humans, for Robots , 2010, ISER.

[22]  Pablo F. Diez,et al.  Asynchronous BCI control using high-frequency SSVEP , 2011, Journal of NeuroEngineering and Rehabilitation.

[23]  Tamer Shanableh,et al.  Spatio-Temporal Feature-Extraction Techniques for Isolated Gesture Recognition in Arabic Sign Language , 2007, IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics).

[24]  Nicolas Roussel,et al.  1 € filter: a simple speed-based low-pass filter for noisy input in interactive systems , 2012, CHI.

[25]  Huan Tan,et al.  Towards safe robot-human collaboration systems using human pose detection , 2015, 2015 IEEE International Conference on Technologies for Practical Robot Applications (TePRA).

[26]  Tzyy-Ping Jung,et al.  A brain-machine interface using dry-contact, low-noise EEG sensors , 2008, 2008 IEEE International Symposium on Circuits and Systems.

[27]  Nikolaos G. Tsagarakis,et al.  Tele-impedance: Teleoperation with impedance regulation using a body–machine interface , 2012, Int. J. Robotics Res..

[28]  G. Sperling,et al.  Attentional modulation of SSVEP power depends on the network tagged by the flicker frequency. , 2006, Cerebral cortex.

[29]  José del R. Millán,et al.  Noninvasive brain-actuated control of a mobile robot by human EEG , 2004, IEEE Transactions on Biomedical Engineering.

[30]  Hiran Ekanayake,et al.  P300 and Emotiv EPOC: Does Emotiv EPOC capture real EEG? , 2010 .

[31]  Tamio Arai,et al.  Assessment of operator stress induced by robot collaboration in assembly , 2010 .

[32]  Tadej Petric,et al.  Teaching robots to cooperate with humans in dynamic manipulation tasks based on multi-modal human-in-the-loop approach , 2014, Auton. Robots.

[33]  J. Geoffrey Chase,et al.  Human-Robot Collaboration: A Literature Review and Augmented Reality Approach in Design , 2008 .

[34]  B. Scassellati,et al.  Co-Robots: Humans and Robots Operating as Partners , 2016, Handbook of Science and Technology Convergence.

[35]  Mengyin Fu,et al.  Teleoperation of a virtual iCub robot under framework of parallel system via hand gesture recognition , 2014, 2014 IEEE International Conference on Fuzzy Systems (FUZZ-IEEE).

[36]  Marek Krawczuk,et al.  Arm EMG Wavelet-Based Denoising System , 2015 .

[37]  Chenguang Yang,et al.  Controlling mobile Spykee robot using Emotiv Neuro headset , 2013, Proceedings of the 32nd Chinese Control Conference.

[38]  Chenguang Yang,et al.  Mind guided motion control of robot manipulator using EEG signals , 2015, 2015 5th International Conference on Information Science and Technology (ICIST).

[39]  Brian Scassellati,et al.  Co-Robots: Humans and Robots Operating as Partners: The Confluence of Engineering-Based Robotics and Human-Centered Application Domains , 2015 .

[40]  Ivan Lundberg,et al.  Safety of collaborative industrial robots: Certification possibilities for a collaborative assembly robot concept , 2011, 2011 IEEE International Symposium on Assembly and Manufacturing (ISAM).

[41]  Martin Buss,et al.  Human-Robot Collaboration: a Survey , 2008, Int. J. Humanoid Robotics.

[42]  Guillaume Gibert,et al.  OpenViBE: An Open-Source Software Platform to Design, Test, and Use BrainComputer Interfaces in Real and Virtual Environments , 2010, PRESENCE: Teleoperators and Virtual Environments.

[43]  Kun Qian,et al.  Developing a Gesture Based Remote Human-Robot Interaction System Using Kinect , 2013 .

[44]  Thavida Maneewarn,et al.  Motion classification using IMU for human-robot interaction , 2010, ICCAS 2010.

[45]  Nikolaos G. Tsagarakis,et al.  Tele-Impedance: Preliminary results on measuring and replicating human arm impedance in tele operated robots , 2011, 2011 IEEE International Conference on Robotics and Biomimetics.

[46]  Hadi Moradi,et al.  Joint Limit Analysis and Elbow Movement Minimization for Redundant Manipulators Using Closed Form Method , 2005, ICIC.

[47]  Alin Albu-Schäffer,et al.  Human-Like Adaptation of Force and Impedance in Stable and Unstable Interactions , 2011, IEEE Transactions on Robotics.

[48]  Mengyin Fu,et al.  Hand Gesture Based Robot Control System Using Leap Motion , 2015, ICIRA.

[49]  Xilun Ding,et al.  A Set of Basic Movement Primitives for Anthropomorphic Arms , 2013, 2013 IEEE International Conference on Mechatronics and Automation.

[50]  Ming-Kuei Hu,et al.  Visual pattern recognition by moment invariants , 1962, IRE Trans. Inf. Theory.

[51]  Alex Pentland,et al.  Real-Time American Sign Language Recognition Using Desk and Wearable Computer Based Video , 1998, IEEE Trans. Pattern Anal. Mach. Intell..

[52]  T. Collura.  History and evolution of electroencephalographic instruments and techniques. , 1993, Journal of clinical neurophysiology : official publication of the American Electroencephalographic Society.

[53]  Carme Torras,et al.  Learning Collaborative Impedance-Based Robot Behaviors , 2013, AAAI.

[54]  Elisabeth André,et al.  EMG-based hand gesture recognition for realtime biosignal interfacing , 2008, IUI '08.

[55]  H. Jasper,et al.  The ten-twenty electrode system of the International Federation. The International Federation of Clinical Neurophysiology. , 1999, Electroencephalography and clinical neurophysiology. Supplement.

[56]  Gösta H. Granlund,et al.  Fourier Preprocessing for Hand Print Character Recognition , 1972, IEEE Transactions on Computers.

[57]  Yi Li,et al.  A P300 based online brain-computer interface system for virtual hand control , 2010, Journal of Zhejiang University SCIENCE C.

[58]  Rin-ichiro Taniguchi,et al.  Real-time human motion sensing based on vision-based inverse kinematics for interactive applications , 2004, ICPR 2004.