Control de una silla de ruedas a través de señales cerebrales.

Abstract

This work was aimed at the control of a wheelchair using brain signals, allowing people with motor disabilities to move a robotic chair through the commercial center Emotiv EPOC that recept electroencephalogram signals (EEG) , for which it was necessary that user cognitive abilities are intact. The signals sent were processed by the proposed kinematic and dynamic controllers, which send commands position and movement speed wheel chair robot. The results of experiments and simulations show that the movement of robot chair wheels converges to the desired trajectory according to the proposed algorithms. The kinematic and dynamic system for the chair user controllers meet the goal of finding the best way forward for the chair wheeled robot, the robot also provides the ability to position at a desired point; which it is done by reducing errors that may reach occur during work time wheel chair robot. It is recommended to implement an adaptive controller algorithm for dynamic system parameters chair-user so that the dynamic model fits contextures different user, weight, height and other characteristics.