Dataset for "Manual 3D Control of an Assistive Robotic Manipulator Using Alpha Rhythms and an Auditory Menu: A Proof-of-Concept"

Data supporting the paper "Manual 3D Control of an Assistive Robotic Manipulator Using Alpha Rhythms and an Auditory Menu: A Proof-of-Concept". 

Divided into data from 8 able-bodied subjects over two experimental sessions. Each used an alpha-wave-driven BCI to perform a pick-and-place task using an assistive robotic arm.  

The folder alpha-training-task includes the datasets used for each session to train the BCI. EEG data were recorded using BrainFlow. Information on the board used and channel numbers can be found in eeg_rec_params.yaml.

The folder ROS-message-data includes bag files recorded during the experiments. The file paths_to_rosbags.yaml includes a list of all bag files, and the file trial_completion.xlsx includes how many trials the participants completed. Both are used by the script process_bags.py, which was used to extract the data.

The bag files include:

Topic: /eeg_stream | Type: float32[] data, int32[] shape | Desc: eeg stream recorded by brainflow.
Topic: /classifier | Type: int32 | Output by the classifier 
Topic: /j2n6s300_driver/out/tool_pose
Topic: /j2n6s300_driver/out/finger_position
Topic: /j2n6s300_driver/in/cartesian_velocity
Topic: /trial_log | Type: int32 secs, int32 nsecs, string flag, int32 mode | Desc: trial markers recorded through keypresses by the experimenter
/Jaco_cmd  | Type: float32 twist_linear_x, float32 twist_linear_y, float32 twist_linear_z, float32, twist_angular_x, float32 twist_angular_y, float32 twist_angular_z, string cmd | Desc: command sent to jaco

Finally, the results folder includes two files:

control_performance.xlsx - Includes metrics related to the subject's ability to control the robotic arm, such as task completion time and length of path.
trial-completion_selection-performance.xlsx - Includes other metrics recorded by the experimenter, such as task success rate and number of involuntary selections.

The study was conducted according to the guidelines of the

Declaration of Helsinki, and approved by the North Denmark Region Committee on Health Research

Ethics (protocol number N-20130081, approved the 15th of January 2019).