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From the decoding of cortical activities to the control of a JACO robotic arm: a whole processing chain
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.
Cited literature [8 references]
https://hal.inria.fr/hal-00759545
Contributor : Laurent Bougrain <>
Submitted on : Friday, November 30, 2012 - 11:10:38 PM
Last modification on : Monday, April 19, 2021 - 5:30:07 PM
Long-term archiving on: : Saturday, December 17, 2016 - 6:47:33 PM
Contributor : Laurent Bougrain <>
Submitted on : Friday, November 30, 2012 - 11:10:38 PM
Last modification on : Monday, April 19, 2021 - 5:30:07 PM
Long-term archiving on: : Saturday, December 17, 2016 - 6:47:33 PM
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