ur3-bci-teleop

UR3 robot teleoperation with BCI-SSVEP recorded data

Setup

This project has been tested on a Ubuntu 18.04 machine with 16 GB Ram, Intel Core i5-4210U processor and with ROS Melodic and Matlab 2021b installed.

Dataset

For this project, we're going to use the dataset provided by MAMEM Project [1] which offers signals taken from 11 subjects using an Emotiv Epoc BCI with the SSVEP paradigm and 5 stimulus frequencies. The dataset used is:

• EEG SSVEP Dataset III

EEG Signal Processing Toolbox

To process the EEG data from the datasets, we're going to use the processing toolbox offered by MAMEM Project [1].

• EEG Processing Toolbox

ROS Packages

The ROS packages needed to run the code for this project are:

• aruco_ros
• moveit
• universal_robots_ros_driver
• usb_cam
• moveit_calibration
• ur3
• robotiq

Matlab libraries

The Matlab libraries needed to run the code or this project are:

• Statistics and Machine Learning Toolbox
• ROS Toolbox

References

[1] Mamem Project page