Bypassing the Natural Visual-Motor Pathway to Execute Complex Movement Related Tasks Using Interval Type-2 Fuzzy Sets

Khasnobish, Anwesha and Konar, Amit and Tibarewala, Dewakinandan N. and Nagar, Atulya K. (2017) Bypassing the Natural Visual-Motor Pathway to Execute Complex Movement Related Tasks Using Interval Type-2 Fuzzy Sets. IEEE Transactions on Neural Systems and Rehabilitation Engineering, 25. pp. 91-105. ISSN 1534-4320 (Accepted for Publication)

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Abstract

In visual-motor coordination, the human brain processes visual stimuli representative of complex motion-related tasks at the occipital lobe to generate the necessary neuronal signals for the parietal and pre-frontal lobes, which in turn generates movement related plans to excite the motor cortex to execute the actual tasks. The paper introduces a novel approach to provide rehabilitative support to patients suffering from neurological damage in their pre-frontal, parietal and/or motor cortex regions. An attempt to bypass the natural visual-motor pathway is undertaken using interval type-2 fuzzy sets to generate the approximate EEG response of the damaged pre-frontal/parietal/motor cortex from the occipital EEG signals. The approximate EEG response is used to trigger a pre-trained joint coordinate generator to obtain desired joint coordinates of the link end-points of a robot imitating the human subject. The robot arm is here employed as a rehabilitative aid in order to move each link end-points to the desired locations in the reference coordinate system by appropriately activating its links using the well-known inverse kinematics approach. The mean-square positional errors obtained for each link end-points is found within acceptable limits for all experimental subjects including subjects with partial parietal damage, indicating a possible impact of the proposed approach in rehabilitative robotics. Subjective variation in EEG features over different sessions of experimental trials is modelled here using interval type-2 fuzzy sets for its inherent power to handle uncertainty. Experiments undertaken confirm that interval type-2 fuzzy realization outperforms its classical type-1 counterpart and back-propagation neural approaches in all experimental cases, considering link positional error as a metric. The proposed research offers a new opening for the development of possible rehabilitative aids for people with partial impairment in visual-motor coordination.

Item Type: Article
Additional Information and Comments: (c) 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.
Keywords: Bypassing natural visual-motor pathways; Fuzzy mapping; Interval type-2 fuzzy sets; Prediction of positional body joint coordinates and Inverse kinematics in Robotics; Rehabilitative aids for visual-motor impairment; Electroencephalography; Fuzzy sets; Robot kinematics; Robot sensing systems; Uncertainty Visualization
Faculty / Department: Faculty of Science > Mathematics and Computer Science
Depositing User: Atulya Nagar
Date Deposited: 29 Jun 2016 09:08
Last Modified: 05 Feb 2017 19:00
URI: http://hira.hope.ac.uk/id/eprint/1536

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