Mobile robot control based on noninvasive brain-computer interface using hierarchical classifier of imagined motor commands

¹ Peter the Great Saint-Petersburg Polytechnic University, Russia
² Sagol School of Neuroscience, Tel Aviv University, Israel

^* Corresponding author: stankevich_lev@inbox.ru

Abstract

The study describes approaches of direct and supervisor control of a mobile robot based on a non-invasive brain-computer interface. An interface performs electroencephalographic signal decoding, which includes several steps: filtering, artefact detection, feature extraction, and classification. In this study, a classifier with hierarchical structure was developed and applied. Description of a committee of classifiers based on neural networks and support vector machines is given. The developed classifier demonstrated accuracy 50 ± 5% of single trial decoding of four classes of imaginary fine movements. Prospects of using non-invasive brain-computer interface for control of mobile robots was described. Key applications of the system are maintenance of immobilized patients and rehabilitation procedures both in clinic and at home.