Figure 1 | Spinal Cord

Figure 1

From: On the feasibility of using motor imagery EEG-based brain–computer interface in chronic tetraplegics for assistive robotic arm control: a clinical test and long-term post-trial follow-up

Figure 1

Left: schematic of coordinate systems and position variables. The base coordinate system (x0, y0, z0) is centered at the base of the robot arm's shoulder joint. The head tracking cameras provide a current estimate of the head-centered coordinates (x0, y0, z0), by means of markers mounted on snugly mounted glasses equipped with two pupil tracking cameras, which are used to obtain the gaze azimuth and elevation angles (φ and θ) and the gaze distance r, in head coordinates. Right: typical set up (pictured). The robot is shown in the middle of a ‘grab’ sequence. The head tracking cameras seen in the schematic are mounted on the facing wall (off-frame)21 (FRAUNHOFER-FIRST, Berlin/TEHBA, Bucharest; 2008).

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