Development of an EEG-based arm exoskeleton robot | |
| Author | Shrestha, Sunny Raj |
| Call Number | AIT Thesis no.ISE-24-06 |
| Subject(s) | Brain-computer interfaces Robotic exoskeletons |
| Note | A thesis submitted in partial fulfillment of the requirements for the degree of Master of Engineering in Mechatronics |
| Publisher | Asian Institute of Technology |
| Abstract | Robotics in terms of Brain-Machine Interface is the union between a human mind and a robot or computer, which gives the human being a new technological evolution to make their lives easy, happy and overall better. This paper presents Karuna Robot, which is a 2 Degrees of freedom arm exoskeleton rehabilitation robot that picks and places an object following the commands of the EEG signals to study about the effectiveness and possibilities of recovery of motor movements by using a non-invasive motor imagery technique. The EEG headset is a 5 channel Emotiv Insight 2.0 headset that facilitates effective communication between the user and the robot to execute the task of pick-and-place using combinations of mental commands to move the two joints of Karuna Robot which performs grasping and releasing the object at desired positions. The Average Root Mean Square Error of the joints in both positive and negative directions is 14.86 degrees, whereas, the signal band power analysis renders prominence of Theta, Alpha and a very few spikes of low beta waves during the window of mental commands which illustrates presence of recall of memory, motor planning and active thinking, respectively. Moreover, the circular queue data structure and the use of linear interpolation has also rendered optimized and nuanced user-controlled movements. The average time for the pick-and-place task completion is about 2 minutes, with time complexity of O (1) and a success rate of about 70%. |
| Year | 2024 |
| Type | Thesis |
| School | School of Engineering and Technology |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Mechatronics and Machine Intelligence (MMI) |
| Chairperson(s) | Manukid Parnichkun; |
| Examination Committee(s) | Mongkol Ekpanyapong;Bora, Tanujjal; |
| Scholarship Donor(s) | AIT Scholarships; |
| Degree | Thesis (M. Eng.) - Asian Institute of Technology, 2024 |