Figure 1. Experiment setup.

EEG electrodes placed on subject's sensorimotor cortex recorded brain activities during motor imagery tasks. Subjects wore a head mounted display through which they had a first person view of the robot's hands. They received cues by lighting balls in front of the robot's hands and held grasp images for their own corresponding hands. Classifier detected two classes of results (right or left) and sent a motion command to robot's hand. SCR electrodes, attached to subject's left hands, measured physiological arousal during the session. Identical blankets were laid on both robot and subject legs so the background views were the same.