From the decoding of cortical activities to the control of a JACO robotic arm: a whole processing chain - Inria - Institut national de recherche en sciences et technologies du numérique
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
  • Function : Author
  • PersonId : 758867
  • IdRef : 145018547
Lionel Havet
  • Function : Author
  • 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.
Fichier principal
Vignette du fichier
CAR12-Bougrain.pdf (6.24 Mo) Télécharger le fichier
Origin Files produced by the author(s)
Loading...

Dates and versions

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

Identifiers

Cite

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⟩
155 View
293 Download

Altmetric

Share

More