Controlling 3-D Movement of Robot Manipulator using Electrooculography

• Published in: International Journal on Electrical Engineering and Informatics Vol. 10; no. 1; pp. 170 - 185
• Main Authors: Rusydi, Muhammad Ilhamdi, Okamoto, Takeo, Ito, Satoshi, Sasaki, Minoru
• Format: Journal Article
• Language: English
• Published: Bandung School of Electrical Engineering and Informatics, Bandung Institute of Techonolgy, Indonesia 01.03.2018
• Subjects: Affine transformations; Blinking; Cameras; Electrooculography; Inverse kinematics; Kinematics; Manipulation; Manipulators; Pixels; Polarity; Robot arms; Robots; Three dimensional motion; Asia; Japan
• ISSN: 2085-6830; 2087-5886
• DOI: 10.15676/ijeei.2018.10.1.12

EOG is a biosignal generated by eye activities. This research develops the use of EOG signals in a new way. EOG was used to control a robot manipulator that reaches for a target in 3-D area. Five properties of EOG signal were used, which were: threshold, polarity of signal, integral of absolute EOG signals, peak and period of a wave. The use of these properties allowed the apparatus to detect the EOG signals, estimate gaze distance and distinguish between gaze motion, voluntary blinks and involuntary blinks. Targets were recorded by two cameras that provided front and top views. The images were viewed on a monitor one at a time with the active camera selected by voluntary blinking. EOG signals were converted to pixel coordinates using an affine transform. The pixel coordinates were then transformed into robot coordinates using the correlation between camera position, robot position and monitor display. Robot coordinates of a target became end-effector position and joint angles were derived through inverse kinematics. The result shows that this system could reach target with approximately 90% accuracy. This system successfully improved the flexibility of controlling a robot in three dimensions.