Vibrotactile feedback for conveying object shape information as perceived by artificial sensing of robotic arm

BCI-Utility Metric for Asynchronous P300 Brain-Computer Interface Systems

The Brain-Computer Interface (BCI) was envisioned as an assistive technology option for people with severe movement impairments. The traditional synchronous event-related potential (ERP) BCI design uses a fixed communication speed and is vulnerable to variations in attention. Recent ERP BCI designs have added asynchronous features, including abstention and dynamic stopping, but it remains a open question of how to evaluate asynchronous BCI performance. In this work, we build on the BCI-Utility metric to create the first evaluation metric with special consideration of the asynchronous features of self-paced BCIs. This metric considers accuracy as all of the following three - probability of a correct selection when a selection was intended, probability of making a selection when a selection was intended, and probability of an abstention when an abstention was intended. Further, it considers the average time required for a selection when using dynamic stopping and the proportion of intended selections versus abstentions. We establish the validity of the derived metric via extensive simulations, and illustrate and discuss its practical usage on real-world BCI data. We describe the relative contribution of different inputs with plots of BCI-Utility curves under different parameter settings. Generally, the BCI-Utility metric increases as any of the accuracy values increase and decreases as the expected time for an intended selection increases. Furthermore, in many situations, we find shortening the expected time of an intended selection is the most effective way to improve the BCI-Utility, which necessitates the advancement of asynchronous BCI systems capable of accurate abstention and dynamic stopping.

A Gesture-Based Teleoperation System for Compliant Robot Motion

Currently, the gesture-based teleoperation system cannot generate precise and compliant robot motions because human motions have the characteristics of uncertainty and low-resolution. In this paper, a novel, gesture-based teleoperation system for compliant robot motion is proposed. By using the left hand as the commander and the right hand as a positioner, different operation modes and scaling ratios can be tuned on-the-fly to meet the accuracy and efficiency requirements. Moreover, a vibration-based force feedback system was developed to provide the operator with a telepresence capability. The pick-and-place and peg-in-hole tasks were used to test the effectiveness of the teleoperation system we developed. The experiment results prove that the gesture-based teleoperation system is effective at handling compliant robot motions.

Selectivity and Longevity of Peripheral-Nerve and Machine Interfaces: A Review

For those individuals with upper-extremity amputation, a daily normal living activity is no longer possible or it requires additional effort and time. With the aim of restoring their sensory and motor functions, theoretical and technological investigations have been carried out in the field of neuroprosthetic systems. For transmission of sensory feedback, several interfacing modalities including indirect (non-invasive), direct-to-peripheral-nerve (invasive), and cortical stimulation have been applied. Peripheral nerve interfaces demonstrate an edge over the cortical interfaces due to the sensitivity in attaining cortical brain signals. The peripheral nerve interfaces are highly dependent on interface designs and are required to be biocompatible with the nerves to achieve prolonged stability and longevity. Another criterion is the selection of nerves that allows minimal invasiveness and damages as well as high selectivity for a large number of nerve fascicles. In this paper, we review the nerve-machine interface modalities noted above with more focus on peripheral nerve interfaces, which are responsible for provision of sensory feedback. The invasive interfaces for recording and stimulation of electro-neurographic signals include intra-fascicular, regenerative-type interfaces that provide multiple contact channels to a group of axons inside the nerve and the extra-neural-cuff-type interfaces that enable interaction with many axons around the periphery of the nerve. Section Current Prosthetic Technology summarizes the advancements made to date in the field of neuroprosthetics toward the achievement of a bidirectional nerve-machine interface with more focus on sensory feedback. In the Discussion section, the authors propose a hybrid interface technique for achieving better selectivity and long-term stability using the available nerve interfacing techniques.