1. EOG Based Robot Controller
Presented By:
Charbel A. Habib
Harpreet Kaur Jassal
Hassan A.M. Muhsen

2. Outline The Project Future Work Conclusion Input unit Processing unit
Control Unit
Output unit
Future Work
Conclusion

3. The Project System Architecture

4. EOG EOG Signal EOG: Electrooculogram
the recording of the changes in voltage that occur with
the eye position.
Electro: electrical
Oculo: eye
Gram: recording

5. EOG EOG Signal EOG: Electrooculogram spherical battery 0.4 and 1 mV
positive terminal: the cornea
negative terminal: the retina.
0.4 and 1 mV

6. EOG
EOG Signal

7. EOG
EOG Signal
The signals are measured using EEG disposable electrodes

8. Input Unit
Sensors
Amplifier

9. EOG Electrode signal: This low voltage is not strong neither usable
0.4 and 1 mV
This low voltage is not strong neither usable
SOLUTION: ???

10. EOG Amplifier Designing an amplifier Requirements: Total gain of 5000
Cutoff frequency of 25Hz LPF
Offset compensation

11. Amplifier Design

12. Buffer Amplifier

13. Difference Amplifier
Amplifier Gain = -R2/R1

14. High Frequency Filter
4th order Butterworth Filter Cut off Frequency of Filter (f0)= 1/(2π*R*C)

15. Low Pass Filter

16. Summer Amplifier

17. Inverting and Non inverting Amplifier + Rectifier
Inverting Amplifier = -R2/R1 & Non Inverting Amplifier = 1+ R2/R1

18. Half Wave Rectifier

19. Amplifier Implementation

20. Amplifier Gain

21. Problems Unavailability of small power supply Electrodes
Amplifier Vcc supplier

22. Main Unit
Process Unit
Control Unit

23. Processing Unit Right side movement of eyes Left side movement of eyes
Movement of eyes during reading
Upside movement of eyes
Downward movement of eyes
Blinking movement of eyes

24. Signal Processing
Filtering (Median Filter)
Segmentation (Clustering)

25. Original Data

26. Filtered Data

27. Segmented Data

28. Problems
Microcontroller Delay
Median Filter Window Size

29. Control Unit

30. Control Unit Translation (PWM) Communication Center = 128
Right & Up = 185
Left & Down = 70
Communication
Direct from Microcontroller

31. Main Unit
Overall Picture

32. Problems
Calibration
ADC Delay

33. Output Unit

34. Demo

35. Future Work On/Off Mechanism Real Neck Implementation
Applying to Aesop3000

36. Conclusion

37. THANKS
Any Questions???