Assistive Mobile Robot with Shared Control of Brain-Machine Interface and Computer Vision

Abstract

The daily life of stroke patients may be severely limited. In this paper, we proposed a shared control based assistive mobile robot system to improve their ability. Brain-machine interface (BMI) was used for obtaining the user's intention to give a command to the robot. The computer vision technology with laser radar and camera was equipped to detect the environment for obstacle avoidance and target recognition. With the spatial coordinate provided by the vision part, the robot would grasp the target back to the user eventually. The test was carried out on both the BMI based console part and the robot executive. The results showed good performance with satisfied BMI accuracy, quite small route planning error, recognition error and motion planning error, which make us convinced that this assistive mobile robot can help the disabled people.