A body-machine interface for the control of a 2D cursor

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Scopus citations

Abstract

This paper develops a body-machine interface for the control of a powered wheelchair using upper-body motion. Our goal was to infer a cursor's kinematics from the signals recorded from 4 Inertial Measurement Units placed on a subject's shoulders. We specified a Kalman filter measurement model that assumes the Euler angles, angular velocities, and linear accelerations of the shoulders are a stochastic linear function of the position, velocity, and acceleration of the virtual cursor. This model learned a system that encodes cursor movement along with training data. Experimental results show that taking advantage of the redundancy of the signal improves performance during a center-out reaching task. The resulting algorithm provides a platform for people with high-tetraplegia to communicate their intended motor actions with the environment using specialized assistive devices.

Original languageEnglish (US)
Title of host publication2013 IEEE 13th International Conference on Rehabilitation Robotics, ICORR 2013
DOIs
StatePublished - 2013
Event2013 IEEE 13th International Conference on Rehabilitation Robotics, ICORR 2013 - Seattle, WA, United States
Duration: Jun 24 2013Jun 26 2013

Publication series

NameIEEE International Conference on Rehabilitation Robotics
ISSN (Print)1945-7898
ISSN (Electronic)1945-7901

Other

Other2013 IEEE 13th International Conference on Rehabilitation Robotics, ICORR 2013
CountryUnited States
CitySeattle, WA
Period6/24/136/26/13

Keywords

  • Body-machine interface
  • Kalman filter
  • inertial measurement units
  • powered wheelchair control

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Rehabilitation
  • Electrical and Electronic Engineering

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  • Cite this

    Seanez, I., & Mussa-Ivaldi, F. A. (2013). A body-machine interface for the control of a 2D cursor. In 2013 IEEE 13th International Conference on Rehabilitation Robotics, ICORR 2013 [6650508] (IEEE International Conference on Rehabilitation Robotics). https://doi.org/10.1109/ICORR.2013.6650508