Table 4.

Control of a humanoid robot with synchronous BCI.

EEG paradigms	Authors	Robot model	Control commands
SSVEP	Güneysu and Akin [34]	NAO	Left, right, down, up (hand)
	Zhao et al. [160]	NAO	Turn left, right, walk forward, backward for one-step walking, turn left, right, move forward, stop for continuous walking, head left, right, camera selecting top or bottom, object grasping and lifting
	Caglayan and Arslan [36]	Kondo KHR-3HV	Raise left or right arm
	Zhao et al. [28]	NAO	Walk forward and backward, turning left and right
	Gergondet et al. [23]	HRP-2	Walk forward and backward, turning left and right
	Wang et al. [161]	NAO	Human face detection and tracking
P300	Zhao et al. [28]	NAO	Walk forward and backward, shift left and right, turn left and right
	Li et al. [162]	NAO	Walk forward and backward, shift left and right, turn left and right
	Tang et al. [163]	NAO	Turn left and right (with different angle), move forward (with different speed), stand up, sit down, wave hand, turn on/off the system
	Liu et al. [164]	Adult-size robot	Walk forward and backward, turn left and right
MI	Bouyarmane et al. [165]	Humanoid robot HRP2	Go up and down
	Batula et al. [166]	DARwIn-OP	Walk forward and backward, turn left and right
	Cohen et al. [167]	HOAP3	Walk forward, turn left and right
P300+MI	Finke et al. [19]	Honda's Humanoid Robot	Walk forward and backward, sidestep left and right, turn left and right
SSVEP+MI	Duan et al. [20]	NAO	Walk forward, turn left and right, grasp motion