A Practical EEG-Based Human-Machine Interface to Online Control an Upper-Limb Assist Robot

Background and Objective: Electroencephalography (EEG) can be used to control machines with human intention, especially for paralyzed people in rehabilitation exercises or daily activities. Some effort was put into this but still not enough for online use. To improve the practicality, this study aims to propose an efficient control method based on P300, a special EEG component. Moreover, we have developed an upper-limb assist robot system with the method for verification and hope to really help paralyzed people. Methods: We chose P300, which is highly available and easily accepted to obtain the user's intention. Preprocessing and spatial enhancement were firstly implemented on raw EEG data. Then, three approaches- linear discriminant analysis, support vector machine, and multilayer perceptron -were compared in detail to accomplish an efficient P300 detector, whose output was employed as a command to control the assist robot. Results: The method we proposed achieved an accuracy of 94.43% in the offline test with the data from eight participants. It showed sufficient reliability and robustness with an accuracy of 80.83% and an information transfer rate of 15.42 in the online test. Furthermore, the extended test showed remarkable generalizability of this method that can be used in more complex application scenarios. Conclusion: From the results, we can see that the proposed method has great potential for helping paralyzed people easily control an assist robot to do numbers of things.