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

Laurent Bougrain 1, * Olivier Rochel 2 Octave Boussaton 1 Lionel Havet 3
* Auteur correspondant
1 CORTEX - Neuromimetic intelligence
Inria Nancy - Grand Est, LORIA - AIS - Department of Complex Systems, Artificial Intelligence & Robotics
2 Inria Nancy - Grand Est
3 TRIO - Real time and interoperability
Inria Nancy - Grand Est, LORIA - NSS - Department of Networks, Systems and Services
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.
Keywords : Brain-Machine interfaces neuroprosthetics JACO robotic arm OpenViBE spike trains grasping monkey
Type de document :
Communication dans un congrès
CAR - Control Architecture of Robots - 2012, May 2012, Nancy, France. 2012
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Dernière modification le : jeudi 11 janvier 2018 - 06:25:24
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  • HAL Id : hal-00759545, version 1
  • ARXIV : 1212.0083

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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. 2012. 〈hal-00759545〉

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