Sistema de manipulación y monitoreo del robot Scorbot mediante señales electroencefalográficas (EEG)

Abstract

One of the main tools that contributes to a better quality of life, despite motor difficulties is technology, this promotes the creation and research of new equipment, the cost of manipulating industrial robots through proprietary software is very high and there are limitations due to the impossibility of integrating new communication technologies.

The objective of this research was to develop a control and monitoring system of the Scorbot Robot using electroencephalographic signals (EEG), which has the ability to manipulate the joints of the Scorbot Robot, using the electrical signals provided by brain activity. the Neurosky helmet and the emotiv insight, which receives the impulses from the electrodes, converting them into signals that are processed by Matlab mathematical software. In the control and monitoring stage, a graphical interface was developed, where the user can train and condition the system depending on their physical, mental and intellectual disabilities.

The electronic control stage was carried out on a raspberry Pi3 B +, using the MQTT protocol to receive and send information between the stages of the system as well as for communication with the Scorbot Robot, wheelchair or the Eezy robotic arm, on the other. In part, low-cost computers were used to control the different movements that each of the devices will have, as well as for better monitoring, a 3D prototype was assembled with the help of the Unity software, to visualize the movements of the Scorbot Robot.