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Conference Papers Year : 2012

From the decoding of cortical activities to the control of a JACO robotic arm: a whole processing chain

Olivier Rochel
Octave Boussaton
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  • PersonId : 758867
  • IdRef : 145018547
Lionel Havet
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  • PersonId : 864623

Abstract

This paper presents a complete processing chain for decoding intracranial data recorded in the cortex of a monkey and replicates the associated movements on a JACO robotic arm by Kinova. We developed specific modules inside the OpenViBE platform in order to build a Brain-Machine Interface able to read the data, compute the position of the robotic finger and send this position to the robotic arm. More pre- cisely, two client/server protocols have been tested to transfer the finger positions: VRPN and a light protocol based on TCP/IP sockets. According to the requested finger position, the server calls the associ- ated functions of an API by Kinova to move the fin- gers properly. Finally, we monitor the gap between the requested and actual fingers positions. This chain can be generalized to any movement of the arm or wrist.
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Dates and versions

hal-00759545 , version 1 (30-11-2012)

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Laurent Bougrain, Olivier Rochel, Octave Boussaton, Lionel Havet. From the decoding of cortical activities to the control of a JACO robotic arm: a whole processing chain. CAR - Control Architecture of Robots - 2012, May 2012, Nancy, France. ⟨hal-00759545⟩
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