Sistema de Teleoperación Multi-Robot basado en Interfaz Cerebro-Computador

摘要

This paper reports multi-robot teleoperation system based on a brain-computer interface, which allows the user to control simultaneously a non-predefined number of robots via internet, only by brain activity. These devices are oriented to people with severe neuromuscular disabilities, providing them telepresence with a interaction mode based on their thoughts. This work is an extension of a teleoperation system which has been improved to support the teleoperation of N robots, and that uses small and portable robots (of two orders of dimension below the original). The brain-computer interface is based on EEG with a P300-based protocol of control, and the robots are able to navigate, interact by sending alarms, and visually perceive the environments. The system has been validated with two healthy users and the main result is that all of them were able to successfully solve the proposed tasks with no failures, which demonstrates the validity and high robustness of the prototype.