Systems, methods, and apparatus for neuro-robotic goal selection

Patent metadata

Field	Value
Publication number	US-9445739-B1
Application number	US-69964910-A
Country	US
Kind code	B1
Filing date	Feb 3, 2010
Priority date	Feb 3, 2010
Publication date	Sep 20, 2016
Grant date	Sep 20, 2016

Abstract

Systems, methods, and apparatus for neuro-robotic goal selection are disclosed. An example method to control a robot is described, including presenting a target object to a user, the target object corresponding to a goal to be effectuated by a robot, emphasizing a portion of the target object, identifying a first brain signal corresponding to a first mental response of the user to the emphasized portion, determining whether the first mental response corresponds to a selection of the emphasized portion by the user, and effectuating the robot with respect to the goal based on the emphasized portion.

First claim

What is claimed is:

1. A method to control a robot, comprising:
presenting an object to a user, the object corresponding to a goal to be effected by a robot;
emphasizing a portion of the object;
identifying a first brain signal corresponding to a first mental response of the user to the emphasized portion;
determining whether the first mental response corresponds to a selection of the emphasized portion by the user; and
controlling the robot via a processor based on determining that the first mental response corresponds to a selection of the emphasized portion.

2. A method as defined in claim 1 , further comprising:
presenting a plurality of physical configurations capable of reaching the goal to the user;
emphasizing one of the plurality of physical configurations of the object;
identifying a second brain signal corresponding to a second mental response of the user to an emphasized physical configuration;
determining whether the second mental response corresponds to a selection of the emphasized physical configuration by the user; and
generating a constraint on the robot corresponding to the emphasized physical configuration in response to determining the emphasized physical configuration.

3. A method as defined in claim 1 , wherein presenting the object to the user comprises generating an image of the object, selecting a plurality of features of the object, and displaying the object and the features to the user.

4. A method as defined in claim 1 , wherein identifying the first brain signal comprises monitoring an electroencephalogram (EEG) for at least one of a P300 brain signal or a steady-state visual evoked potential.

5. A method as defined in claim 4 , wherein controlling the robot is in response to receiving the P300 brain signal in response to the emphasized portion.

6. A method as defined in claim 1 , further comprising:
presenting a second view of the object to the user, wherein the second view is based on the emphasized portion;
emphasizing a second portion of the second view;
identifying a second brain signal corresponding to a second mental response of the user to the emphasized second portion; and
determining whether the second mental response corresponds to a selection of the emphasized second portion by the user, wherein controlling the robot is based on the emphasized second portion.

7. A method as defined in claim 1 , wherein presenting the object to the user comprises displaying a plurality of markers at different locations, the markers comprising different frequencies.

8. A robot control apparatus, comprising:
a selector to:
generate a first image of an object;
identify a plurality of features of the object based on the first image;
emphasize one of the plurality of features to a user;
modify the first image based on a feature selected by the user;
present a plurality of physical configurations to the user; and
emphasize one of the plurality of physical configurations to the user;

a user response interface, in communication with the selector, to identify a user brain signal in response to an emphasized feature or physical configuration; and
a robot interface to generate control information to control a robot based on at least one of the emphasized feature or the emphasized physical configuration corresponding to an identified brain signal.

9. A robot control apparatus as defined in claim 8 , wherein the user response interface is to identify a user brain signal corresponding to a negative selection of the emphasized physical configuration.

10. A robot control apparatus as defined in claim 8 , wherein the selector comprises:
an image generator to generate a current reference image based on the object and one or more parameters;
a feature generator to generate features of the object based on the current reference image;
a feature/image presenter to provide the reference image and the features to a user display; and
a parameter generator coupled to generate the one or more parameters of the reference image based on the object.

11. A robot control apparatus as defined in claim 8 , wherein the user response interface comprises an electroencephalogram (EEG).

12. A robot control apparatus as defined in claim 8 , wherein the selector is to modify the first image by generating a second image based on the feature selected by the user and identifies a second plurality of features based on the second image, the user response interface to identify a second user brain signal in response to a second emphasized feature.

13. A robot control apparatus as defined in claim 12 , wherein the second image is a zoomed in version of the first image.

14. A tangible machine readable storage medium comprising machine readable instructions which, when executed, cause a machine to:
present an object to a user, the object corresponding to a goal to be effected by a robot;
emphasize a portion of the object;
identify a first brain signal corresponding to a first mental response of the user to the emphasized portion;
determine whether the first mental response corresponds to a selection of the emphasized portion by the user; and
control the robot based on determining that the first mental response corresponds to a selection of the emphasized portion.

15. A storage medium as defined in claim 14 , wherein the instructions, when executed, further cause the machine to:
present a plurality of physical configurations capable of reaching the goal to the user;
emphasize one of the plurality of physical configurations of the object;
identify a second brain signal corresponding to a second mental response of the user to an emphasized physical configuration;
determine whether the second mental response corresponds to a selection of the emphasized physical configuration by the user; and
generate a constraint on the robot corresponding to the emphasized physical configuration in response to determining the emphasized physical configuration.

16. A storage medium as defined in claim 14 , wherein presenting the object to the user comprises generating an image of the object, selecting a plurality of features of the object, and displaying the object and the features to the user.

17. A storage medium as defined in claim 16 , wherein emphasizing the features of the object comprises selecting one of the plurality of features and performing at least one of flashing the selected feature over the image or flickering the selected feature over the image.

18. A storage medium as defined in claim 14 , wherein identifying the first brain signal comprises monitoring an electroencephalogram (EEG) for at least one of a P300 brain signal or a steady-state visual evoked potential.

19. An article of manufacture as defined in claim 14 , wherein identifying the first mental response of the user comprises monitoring an electroencephalogram (EEG) for the first brain signal corresponding to one of a plurality of markers, the plurality of markers being displayed at different respective locations and being flickered at different respective frequencies.

20. A storage medium as defined in claim 19 , wherein controlling the robot comprises controlling the robot to move toward the portion of the object corresponding to the one of the markers, the one of the markers corresponding to the first brain signal.

Assignees

• Payton David W
• Daily Michael J
• Hrl Lab Llc

Inventors

• Payton David W
• Daily Michael J

Classifications

• A61F4/00

  Methods or devices enabling patients or disabled persons to operate an apparatus or a device not forming part of the body · CPC title

• G08C17/00 Primary

  Arrangements for transmitting signals characterised by the use of a wireless electrical link · CPC title

• G06F3/015

  Input arrangements based on nervous system activity detection, e.g. brain waves [EEG] detection, electromyograms [EMG] detection, electrodermal response detection · CPC title

• A61B5/369

  Electroencephalography [EEG] · CPC title

• A61B5/0006 Primary

  ECG or EEG signals · CPC title