Asistencia háptica para el guiado de un robot cuyo algoritmo de control es generado a partir de la información obtenida de una interfaz cerebro computador.

Abstract

Nowadays, teleoperation in robotics is becoming more and more important, this, due to the need of the human being to physically interact with objects and remote environments, is where the basis of many research for improvement in this field is presented. For this reason, an investigation focused on the area of human interaction - robot was carried out, with which it was intended to provide a solution to the decrease in the precision of the execution of procedures, due to human acquired behaviors when performing tasks that require interaction with a robot, to develop assig ned activities that in most cases are repetitive. Because currently one of the challenges in this area is to incorporate multimodal interfaces (use of the different senses), this research project focused on an inclusion and combination of haptic signals and neurosignals, in order to have the information needed to establish adaptive algorithms for human behaviour (intention). In order to experimentally characterize human interaction - robot, a control algorithm was deve loped that adapts to the behavior of an operator seeking to perform haptic assistance, to perform a remote robot control, so that the algorithm incorporates previously acquired information from a brain computer interface (BCI), in order to establish the most appropriate control and/or correc tion action for haptic assistance and thus improve the performance of the task according to the operator’s behaviour. Finally an appropriate controller was achieved, which allowed the user to remotely operate the mobile robot with haptic assistance and keeping a low level on different emotions. This project will be carried out in the facilities of the university campus of the University of Pam plona, in Pamplona - Norte de Santander, where it is also developed in conjunction with a research project.