Figure 4.

Example scenario for the robot arm trajectory generation based on the operator's movement prediction and arm tracking. The purple sphere is the goal position of the robot's first finger tip. Red cylinders visualize the current position of the operator's arm. The green curve represents the trajectory of the first finger tip. (A) The operator gazed at target object no. 5, and the robot touched object 4. EEG signals were collected in this state (white circle shows flicker stimulus). (B) The BCI predicted the operator will target object 5, and the robot controller adjusted its next goal from target object 5 to target object 2 after touching target object 4. (C–E) The operator touched target object 5, then returned to the rest position. A collision-free robot trajectory was generated by the proposed trajectory optimization method.