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
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