So, to control my robot, I will be looking for EEG signals at these frequencies: 5 Hz, 7.5 Hz, and 10 Hz. Alpha occur around 10 Hz and the visually-entrained brain waves occur at the blink rate(s) of whatever movies I use ( my best results were from 5 Hz and 7.5 Hz movies). These are easily detectable because they occur at specific frequencies. Looking at the Frequency of my Brain Waves: As mentioned above, my approach is to control my robot by detecting Alpha waves and by detecting visually-entrained brain waves. And, finally, EEG often has a third electrode ("bias" or "driven ground"), which I placed on my right earlobe. Of course, EEG also requires a reference electrode, which I put on my left earlobe. That's the only sensing electrode that I'm using. I do not need electrodes all over my head. Based on my previous experience, I know that both are best recorded using an electrode on the back of the head (at the "O1" position, if you're into your 10-20 electrode placement standard). Here is the schematic of how the pieces work together.ĮEG Setup: I'm going to be measuring my Alpha waves and I'm going to be measuring the brain waves induced through visual entrainment. The commands are conveyed back to the Arduino, which then drives the remote control, which the Hex Bug receives over its usual IR link.
If any are detected, it decides what commands to give the robot. The PC processes the EEG data looking for the Alpha waves or the visually-entrained waves. So, as shown below, my brain wave signals go from my head all the way to the PC. Added to this setup is the Hex Bug itself and its remote control, which I hacked so that the remote can be controlled by an Arduino. Hardware Setup: The core hardware for this hack is similar to my usual OpenBCI setup: EEG electrodes, an OpenBCI board, an Arduino Uno, and my computer. Here are all the pieces that you see in the video So, my approach is to use OpenBCI to record my brainwaves, to write software to detect these specific types of brain waves, and to issue commands to the robot based on which brain waves are detected. For me, "easy" brain waves include the Alpha waves (10 Hz oscillations) that occur when I close my eyes, as well as the brain waves that occur when I watch my blinking movies (a.k.a. Instead, I need to use brain waves that are easy to detect. Unfortunately, those kinds of brain waves are too hard to detect.
Ideally, I'd just think the word "Fire!" and the robot would respond. To make this brain-controlled, I need a way to invoke these commands using signals from my brain. Approach: My robot has just a few actions that it can do.turn left, turn right, walk forward, and fire.
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