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OBJECTIVE To assess the feasibility and robustness of an asynchronous and non-invasive EEG-based Brain-Computer Interface (BCI) for continuous mental control of a wheelchair. METHODS In experiment 1 two subjects were asked to mentally drive both a real and a simulated wheelchair from a starting point to a goal along a pre-specified path. Here we only(More)
In this work we present a novel system for autonomous mobile robot navigation. With only an omnidi-rectional camera as sensor, this system is able to build automatically and robustly accurate topologically organised environment maps of a complex, natural environment. It can localise itself using such a map at each moment, including both at startup(More)
Controlling a robotic device by using human brain signals is an interesting and challenging task. The device may be complicated to control and the nonstationary nature of the brain signals provides for a rather unstable input. With the use of intelligent processing algorithms adapted to the task at hand, however, the performance can be increased. This paper(More)
The use of shared control techniques has a profound impact on the performance of a robotic assistant controlled by human brain signals. However, this shared control usually provides assistance to the user in a constant and identical manner each time. Creating an adaptive level of assistance, thereby complementing the user's capabilities at any moment, would(More)
In this paper we present further results of our asynchronous and non-invasive BMI for the continuous control of an intelligent wheelchair. Three subjects participated in two experiments where they steered the wheelchair spontaneously, without any external cue. To do so the users learn to voluntary modulate EEG oscillatory rhythms by executing three mental(More)
One of the most significant cost factors in robotics applications is the design and development of real-time robot control software. Control theory helps when linear controllers have to be developed, but it doesn't sufficiently support the generation of non-linear controllers, although in many cases (such as in compliance control), nonlinear control is(More)
Vision sensors are attractive for autonomous robots because they are a rich source of environment information. The main challenge in using images for mobile robots is managing this wealth of information. A relatively recent approach is the use of fast wide baseline local features, which we developed and used in the novel approach to sparse visual path(More)
— Omnidirectional vision sensors are very attractive for autonomous robots because they offer a rich source of environment information. The main challenge in using these for mobile robots is managing this wealth of information. A relatively recent approach is the use of fast wide baseline local features, which we developed and use in the novel sparse visual(More)