Table 5.

Control of a humanoid robot with asynchronous BCI.

EEG paradigms	Authors	Robot model	Control commands
SSVEP	Deng et al. [168]	HanGood HGR-3M	Turn left, right, walk forward, stop
MI	Jiang et al. [169]	NAO	Walk forward, stop, turn left and right
	Jiang et al. [170]	NAO	Stop motion, open/close hand, shoulder up and down, elbow up and down
	Chae et al. [33]	NAO	Head left and right, body left and right, walk forward, stop
SSVEP+P300+MI	Choi and Jo [171]	NAO	Walk forward, body turn, head turn, object recognition