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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 
* Corresponding author
1 CORTEX - Neuromimetic intelligence
Inria Nancy - Grand Est, LORIA - AIS - Department of Complex Systems, Artificial Intelligence & Robotics
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.
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Submitted on : Friday, November 30, 2012 - 11:10:38 PM
Last modification on : Friday, February 4, 2022 - 3:34:53 AM
Long-term archiving on: : Saturday, December 17, 2016 - 6:47:33 PM


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  • HAL Id : hal-00759545, version 1
  • ARXIV : 1212.0083


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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