Systems, methods, and apparatus for neuro-robotic tracking point selection

• US 8,483,816 B1
• Filed: 02/03/2010
• Issued: 07/09/2013
• Est. Priority Date: 02/03/2010
• Status: Active Grant

• Current Assignee: HRL Laboratories LLC (The Boeing Co.)
• Original Assignee: HRL Laboratories LLC (The Boeing Co.)
• Inventors: Payton, David W., Daily, Michael J.
• Primary Examiner(s): Natnithithadha, Navin
• Assistant Examiner(s): BERHANU, ETSUB D
• Application Number:
  US12/699,660
• Time in Patent Office: 1,252 Days
• Field of Search: 600/544, 600/545
• US Class Current: 600/544
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 5/369 Electroencephalography [EEG] devices for psychotechnics A61B5/16
• CPC Class Codes: G06F 3/015 Input arrangements based on nervous system activity detection, e.g. brain waves [EEG] detection, electromyograms [EMG] detection, electrodermal response detection

Abstract

Systems, methods, and apparatus for neuro-robotic tracking point selection are disclosed. A described example method to control a robot arm includes presenting one or more potential trackable features of a target object, emphasizing at least one of the potential trackable features, determining a selection of one of the emphasized features as a tracking point by monitoring a first mental response to emphasizing the feature, and effectuating an end goal via a robot by tracking the selected feature and effectuating a position based on the selected feature.

Claims

1. A method to control a robot, comprising:

presenting one or more potential trackable features of an object to be contacted by the robot;

emphasizing at least one of the potential trackable features;

determining, using a processor, a selection of one of the emphasized features as a tracking point by monitoring a first mental response to emphasizing the feature; and

effecting an end goal, at a position based on the selected feature, via the robot by tracking the selected feature during the effecting.

2. A method as defined in claim 1, wherein monitoring the first mental response comprises:

monitoring an electroencephalogram (EEG) to identify a brain signal, wherein the brain signal corresponds to the selection of the potential trackable feature; and

associating the selected potential trackable feature as the tracking point corresponding to the brain signal.

3. A method as defined in claim 1, further comprising:

presenting the object and the selected feature;

presenting an offset indicator and one or more directional indicators;

emphasizing at least one of the directional indicators and monitoring an EEG for a second mental response corresponding to a selection of the emphasized directional indicator; and

moving the offset indicator in a direction corresponding to a first one of the emphasized directional indicators in response to identifying the second mental response from the EEG as corresponding to a selection of the first emphasized directional indicator.

4. A method as defined in claim 3, wherein emphasizing the potential trackable feature or the directional indicator comprises at least one of flashing, blinking or flickering the potential trackable feature or the directional indicator.

5. A method as defined in claim 1, further comprising determining potential trackable features by analyzing a plurality of images of the object to determine features that are consistently present.

6. A method as defined in claim 1, wherein effecting the end goal comprises using a visual-servo controller to track the selected feature and to servo a robot based on the tracking.

7. A method as defined in claim 1, wherein effecting the end goal comprises controlling a robotic grappling task to grapple the object at the end goal.

8. A tangible machine readable storage medium comprising machine readable instructions which, when executed, cause a machine to at least:

present one or more potential trackable features of an object to be contacted by a robot;

emphasize at least one of the potential trackable features;

determine a selection of one of the emphasized features as a tracking point by monitoring a first mental response to emphasizing the feature; and

effect an end goal, at a position based on the selected feature, via the robot by tracking the selected feature during the effecting.

9. An article of manufacture as defined in claim 8, wherein monitoring the first mental response comprises:

monitoring an electroencephalogram (EEG) to identify a brain signal, wherein the brain signal corresponds to the selection of the potential trackable feature; and

associating the selected potential trackable feature as the tracking point corresponding to the brain signal.

10. An article of manufacture as defined in claim 8, wherein the first mental response comprises at least one of a P300 signal or a steady-state visual evoked response.

11. An article of manufacture as defined in claim 8, wherein the instructions, when executed, further cause the machine to:

present the object and the selected feature;

present an offset indicator and one or more directional indicators;

emphasize at least one of the directional indicators and monitor an EEG for a second mental response corresponding to a selection of the emphasized directional indicator; and

move the offset indicator in a direction corresponding to a first one of the emphasized directional indicators in response to identifying the second mental response from the EEG as corresponding to a selection of the first emphasized directional indicator.

12. An article of manufacture as defined in claim 8, wherein the instructions, when executed, further cause the machine to generate an image of the object and analyze the image to determine the potential trackable features.

13. An article of manufacture as defined in claim 8, wherein the instructions, when executed, further cause the machine to determine potential trackable features by analyzing a plurality of images of the object to determine features that are consistently present.

14. An apparatus, comprising:

a processor; and

a memory storing computer readable instructions which, when executed by the processor, cause the processor to;

present one or more potential trackable features of an object to be contacted by a robot;

emphasize at least one of the potential trackable features;

determine a selection of one of the emphasized features as a tracking point by monitoring a first mental response to emphasizing the feature; and

effect an end goal, at a position based on the selected feature, via the robot by tracking the selected feature during the effecting.