DEVELOPMENT OF AN EOG BASED ROBOT MANIPULATOR AND END POINT DIRECTION CONTROL SYSTEM

Abstract

　Electro-oculograph (EOG) is one of the biosignal that can be used to improve life quality in human machine interface area. EOG occurring as the eye activities changes the magnitude of potential between cornea and retina. This signal was used to control robot manipulator in four directions (up, down, left and right). To record this phenomenon we used NF Instrument with head box to amplify the signal and processor box to process digital filters. Combination of 3 digital filters, 1.6 Hz High Pass Filter, 60 Hz Low Pass Filter and 60 Hz Ham Filter and finalized by 6 Hz Low Pass Filter gave neat signal until the difference among the eye movements could be distinguished. This is a real time system since it could detect when a signal comes and send it to the robot manipulator system through Arduino microcontroller. The determination of the signal emersion was successfully calculated by the combination of wavelet transform with scale = 1 and translation = 0.31 and garbor filter with σ = 1. Since the average accuracy of the system is more than 90% so we can use this method for some extend applications later.