Assistive robot operated via a Brain-Computer Interface

Lightweight robot manipulator (7DOF Kinova Jaco2) operated via a Brain Computer Interface (Emotiv Epoc ). The user selects an element from a GUI by focusing attention on it and counting how many times it flashes (P300 potential generated via oddball paradigm). The motion of the manipulator is controlled relying on a closed loop inverse kinematic algorithm that simultaneously manages multiple set based and equality-based tasks. The objects and the user’s mouth are recognized and localized using an RGB-D sens