Brain-Computer Interface meets ROS: A robotic approach to mentally drive telepresence robots

TL;DR

This paper presents an integrated BCI-ROS system enabling users with disabilities to mentally control telepresence robots, enhancing interaction and safety through novel algorithms and environment mapping.

Contribution

It introduces a new method combining BCI with ROS for robot control, including algorithms for navigation and obstacle avoidance, and demonstrates reduced cognitive workload.

Findings

Reduced number of commands needed for control

Enhanced safety with obstacle avoidance

Improved user attention and interaction

Abstract

This paper shows and evaluates a novel approach to integrate a non-invasive Brain-Computer Interface (BCI) with the Robot Operating System (ROS) to mentally drive a telepresence robot. Controlling a mobile device by using human brain signals might improve the quality of life of people suffering from severe physical disabilities or elderly people who cannot move anymore. Thus, the BCI user is able to actively interact with relatives and friends located in different rooms thanks to a video streaming connection to the robot. To facilitate the control of the robot via BCI, we explore new ROS-based algorithms for navigation and obstacle avoidance, making the system safer and more reliable. In this regard, the robot can exploit two maps of the environment, one for localization and one for navigation, and both can be used also by the BCI user to watch the position of the robot while it is moving. As demonstrated by the experimental results, the user's cognitive workload is reduced, decreasing the number of commands necessary to complete the task and helping him/her to keep attention for longer periods of time.