Design and Optimization of a BCI-Driven Telepresence Robot through Programming by Demonstration

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2 Citations (Scopus)


Improving the life quality of people with severe motor paralysis has a significant impact on restoring their functional independence to perform activities of daily living (ADL). Telepresence is a subfield of the robotic-Assisted route, where human plays the role of an operator, sending high-level instructions to an assistive robot while receiving sensory feedback. However, for severely motor-impaired people, conventional interaction modalities may not be suitable due to their complete paralysis. Thus, designing alternative ways of interaction such as Brain-Computer Interfaces (BCI) is essential for a telepresence capability. We propose a novel framework that integrates a BCI system and a humanoid robot to develop a brain-controlled telepresence system with multimodal control features. In particular, the low-level control is executed by Programming by Demonstration (PbD) models, and the higher-level cognitive commands are produced by a BCI system to perform vital ADLs. The presented system is based on real-Time decoding of attention-modulated neural responses elicited in the brain electroencephalographic signals and generating multiple control commands. As a result, the system allows a user to interact with a humanoid robot while receiving auditory and visual feedback from the robot's sensors. We validated our system across ten subjects in a realistic scenario. The experimental results show the feasibility of the approach in the design of a telepresence robot with high BCI decoding performances.

Original languageEnglish
Article number8788527
Pages (from-to)111625-111636
Number of pages12
JournalIEEE Access
Publication statusPublished - 2019


  • Brain-Computer interfaces
  • EEG
  • event-related potentials
  • humanoid robots
  • programming by demonstration
  • telepresence

ASJC Scopus subject areas

  • Computer Science(all)
  • Materials Science(all)
  • Engineering(all)

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