ROBUST DISCRIMINATION METHOD OF THE ELECTROOCULOGRAM SIGNALS FOR HUMAN-COMPUTER INTERACTION CONTROLLING MOBILE ROBOT YK,NLD,YY

Intelligent Automation and Soft Computing
, Vol. 13, No.
3
, pp.
319
-
336
, 200
7

Copyright © 200
7
, TSI
®

Press

Printed in the USA. All rights reserved


319


ROBUST DISCRIMINATIO
N METHOD OF THE ELEC
TROOCULOGRAM
S
IGNALS FOR HUMAN
-
COMPUTER INTERACTION

CONTROLLING
MOBILE ROBOT


Y
OUNGMIN
K
IM
*
,

N
AKJU
L
ETT
D
OH
†
,

Y
OUNGIL
Y
OUM
‡

AND
W
AN
K
YUN
C
HUNG
‡



Ph.D. student

Department of Mechanical Engineering, KAIST

Telerobotic
s and Control Lab

E
-
mail: kimym@robot.kaist.ac.kr




†
Assistant Professor

School of Electrical Engineering

Korea University

Corresponding author : nakju@korea.ac.kr



‡
Professor

Department of Mechanical Engineering, POSTECH

Robotics & Bio
-
Mechatronics La
b., Department of Mechanical Engineering,

Pohang University of Science and Technology (POSTECH)

E
-
mail: {youm,wkchung}@postech.ac.kr



ABSTRACT
—
In this paper, a robust algorithm that discriminates various eye motions from the
ElectroOculoGram (EOG) signals

is proposed. Previous researches that use the EOG only focused
on saccadic motions or blinks. However, we cover all eye motions including double/triple blinks and

left/right winks. Furthermore, we suggest a novel method, which removes noises of the EOG, t
o
increase the robustness of the discrimination. The method is called
"an ideal velocity shape
algorithm"

which compares the real velocity of the EOG with an ideal velocity designed under a
noise free assumption. This algorithm significantly reduces the ef
fects of the
noise
s and thus
enhances the robustness. Detected eye motions are used for a Human
-
Computer Interaction (HCI)
between a person and a mobile robot. In the HCI, the person successfully controlled the robot for a
target tracking and point stabili
zation.


Key Words:

Electrooculogram, Eye signal, Mobile Robot, Human
-
Computer Interaction,
Discrimination