{"id":"https://openalex.org/W2032422516","doi":"https://doi.org/10.1109/icra.2012.6225108","title":"Automatic extraction of command hierarchies for adaptive brain-robot interfacing","display_name":"Automatic extraction of command hierarchies for adaptive brain-robot interfacing","publication_year":2012,"publication_date":"2012-05-01","ids":{"openalex":"https://openalex.org/W2032422516","doi":"https://doi.org/10.1109/icra.2012.6225108","mag":"2032422516"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2012.6225108","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6225108","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5034456435","display_name":"Matthew Bryan","orcid":"https://orcid.org/0000-0002-5618-2785"},"institutions":[{"id":"https://openalex.org/I58610484","display_name":"Seattle University","ror":"https://ror.org/02jqc0m91","country_code":"US","type":"education","lineage":["https://openalex.org/I58610484"]},{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Matthew Bryan","raw_affiliation_strings":["Neural Systems Lab, University of Washington, Seattle, USA","University of Washington Neural Systems Lab, Seattle, USA"],"affiliations":[{"raw_affiliation_string":"Neural Systems Lab, University of Washington, Seattle, USA","institution_ids":["https://openalex.org/I201448701"]},{"raw_affiliation_string":"University of Washington Neural Systems Lab, Seattle, USA","institution_ids":["https://openalex.org/I58610484","https://openalex.org/I201448701"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009285707","display_name":"Griffin Nicoll","orcid":null},"institutions":[{"id":"https://openalex.org/I58610484","display_name":"Seattle University","ror":"https://ror.org/02jqc0m91","country_code":"US","type":"education","lineage":["https://openalex.org/I58610484"]},{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Griffin Nicoll","raw_affiliation_strings":["Sensor Systems Lab, University of Washington, Seattle, USA","University of Washington Sensor Systems Lab, Seattle, USA"],"affiliations":[{"raw_affiliation_string":"Sensor Systems Lab, University of Washington, Seattle, USA","institution_ids":["https://openalex.org/I58610484","https://openalex.org/I201448701"]},{"raw_affiliation_string":"University of Washington Sensor Systems Lab, Seattle, USA","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057904934","display_name":"Vibinash Thomas","orcid":null},"institutions":[{"id":"https://openalex.org/I58610484","display_name":"Seattle University","ror":"https://ror.org/02jqc0m91","country_code":"US","type":"education","lineage":["https://openalex.org/I58610484"]},{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Vibinash Thomas","raw_affiliation_strings":["Sensor Systems Lab, University of Washington, Seattle, USA","University of Washington Sensor Systems Lab, Seattle, USA"],"affiliations":[{"raw_affiliation_string":"Sensor Systems Lab, University of Washington, Seattle, USA","institution_ids":["https://openalex.org/I58610484","https://openalex.org/I201448701"]},{"raw_affiliation_string":"University of Washington Sensor Systems Lab, Seattle, USA","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110634255","display_name":"Mike Chung","orcid":null},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]},{"id":"https://openalex.org/I58610484","display_name":"Seattle University","ror":"https://ror.org/02jqc0m91","country_code":"US","type":"education","lineage":["https://openalex.org/I58610484"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mike Chung","raw_affiliation_strings":["Neural Systems Lab, University of Washington, Seattle, USA","University of Washington Neural Systems Lab, Seattle, USA"],"affiliations":[{"raw_affiliation_string":"Neural Systems Lab, University of Washington, Seattle, USA","institution_ids":["https://openalex.org/I201448701"]},{"raw_affiliation_string":"University of Washington Neural Systems Lab, Seattle, USA","institution_ids":["https://openalex.org/I58610484","https://openalex.org/I201448701"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019043770","display_name":"Joshua R. Smith","orcid":"https://orcid.org/0000-0002-5331-4770"},"institutions":[{"id":"https://openalex.org/I58610484","display_name":"Seattle University","ror":"https://ror.org/02jqc0m91","country_code":"US","type":"education","lineage":["https://openalex.org/I58610484"]},{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Joshua R. Smith","raw_affiliation_strings":["Sensor Systems Lab, University of Washington, Seattle, USA","University of Washington Sensor Systems Lab, Seattle, USA"],"affiliations":[{"raw_affiliation_string":"Sensor Systems Lab, University of Washington, Seattle, USA","institution_ids":["https://openalex.org/I58610484","https://openalex.org/I201448701"]},{"raw_affiliation_string":"University of Washington Sensor Systems Lab, Seattle, USA","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5002759219","display_name":"Rajesh P. N. Rao","orcid":"https://orcid.org/0000-0003-0682-8952"},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]},{"id":"https://openalex.org/I58610484","display_name":"Seattle University","ror":"https://ror.org/02jqc0m91","country_code":"US","type":"education","lineage":["https://openalex.org/I58610484"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Rajesh P. N. Rao","raw_affiliation_strings":["Neural Systems Lab, University of Washington, Seattle, USA","University of Washington Neural Systems Lab, Seattle, USA"],"affiliations":[{"raw_affiliation_string":"Neural Systems Lab, University of Washington, Seattle, USA","institution_ids":["https://openalex.org/I201448701"]},{"raw_affiliation_string":"University of Washington Neural Systems Lab, Seattle, USA","institution_ids":["https://openalex.org/I58610484","https://openalex.org/I201448701"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5034456435"],"corresponding_institution_ids":["https://openalex.org/I201448701","https://openalex.org/I58610484"],"apc_list":null,"apc_paid":null,"fwci":1.2555,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.77400954,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"3691","last_page":"3697"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10429","display_name":"EEG and Brain-Computer Interfaces","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},"topics":[{"id":"https://openalex.org/T10429","display_name":"EEG and Brain-Computer Interfaces","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T13382","display_name":"Robotics and Automated Systems","score":0.9850000143051147,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11707","display_name":"Gaze Tracking and Assistive Technology","score":0.9746999740600586,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/interfacing","display_name":"Interfacing","score":0.8821446895599365},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7350120544433594},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6005343198776245},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.41093379259109497},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.39532291889190674},{"id":"https://openalex.org/keywords/computer-hardware","display_name":"Computer hardware","score":0.1392676830291748}],"concepts":[{"id":"https://openalex.org/C2776303644","wikidata":"https://www.wikidata.org/wiki/Q1020499","display_name":"Interfacing","level":2,"score":0.8821446895599365},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7350120544433594},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6005343198776245},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.41093379259109497},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.39532291889190674},{"id":"https://openalex.org/C9390403","wikidata":"https://www.wikidata.org/wiki/Q3966","display_name":"Computer hardware","level":1,"score":0.1392676830291748}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2012.6225108","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6225108","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.6299999952316284}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1563141555","https://openalex.org/W1918325665","https://openalex.org/W2001321000","https://openalex.org/W2043819004","https://openalex.org/W2064696066","https://openalex.org/W2102845969","https://openalex.org/W2105686649","https://openalex.org/W2107849249","https://openalex.org/W2142197234","https://openalex.org/W2142460086","https://openalex.org/W2149108366","https://openalex.org/W2150825261","https://openalex.org/W2153355016","https://openalex.org/W2161636262","https://openalex.org/W2263945042","https://openalex.org/W2971320635","https://openalex.org/W3125878135","https://openalex.org/W6693089086","https://openalex.org/W6767562115"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2136647108","https://openalex.org/W2350029007","https://openalex.org/W1965180958","https://openalex.org/W1973428399","https://openalex.org/W2182594080","https://openalex.org/W2484987020","https://openalex.org/W2421729868"],"abstract_inverted_index":{"Recent":[0],"advances":[1,22],"in":[2],"neuroscience":[3],"and":[4,17,34],"robotics":[5],"have":[6,23],"allowed":[7],"initial":[8],"demonstrations":[9],"of":[10,31,39,67,126,140,174,182],"brain-computer":[11],"interfaces":[12,33],"(BCIs)":[13],"for":[14,86,94],"controlling":[15],"wheeled":[16],"humanoid":[18],"robots.":[19,41],"However,":[20],"further":[21],"proved":[24],"challenging":[25],"due":[26],"to":[27,57,64,76,198],"the":[28,32,35,40,179,183,195],"low":[29],"throughput":[30,181],"high":[36],"degrees-of-freedom":[37],"(DOF)":[38],"In":[42],"this":[43,59,135],"paper,":[44],"we":[45],"build":[46,162],"on":[47,51],"our":[48],"previous":[49],"work":[50],"Hierarchical":[52],"BCIs":[53],"(HBCIs)":[54],"which":[55,137,146,152,177],"seek":[56],"mitigate":[58],"problem.":[60],"We":[61,90,185],"extend":[62],"HBCIs":[63],"allow":[65],"training":[66,72],"arbitrarily":[68],"complex":[69],"tasks,":[70,124,127],"with":[71],"no":[73],"longer":[74],"restricted":[75],"a":[77,87,103,170,200],"particular":[78],"robot":[79,203],"state":[80],"space":[81,85],"(such":[82],"as":[83,156],"Cartesian":[84],"navigation":[88],"task).":[89],"present":[91,186],"two":[92,189],"algorithms":[93,168],"learning":[95],"command":[96,105],"hierarchies":[97],"by":[98],"automatically":[99],"extracting":[100],"patterns":[101],"from":[102,134,188],"user's":[104],"history.":[106],"The":[107,129,143],"first":[108],"algorithm":[109],"builds":[110],"an":[111,163],"arbitrary-level":[112],"hierarchical":[113,165,196],"structure":[114],"(a":[115],"\u201ccontrol":[116],"grammar\u201d)":[117],"whose":[118],"elements":[119],"can":[120,153],"represent":[121],"skills,":[122],"whole":[123],"collections":[125],"etc.":[128],"user":[130],"\u201cexecutes\u201d":[131],"single":[132],"symbols":[133],"grammar,":[136],"produce":[138],"sequences":[139,151],"lower-level":[141],"commands.":[142],"second":[144],"algorithm,":[145],"is":[147],"probabilistic,":[148],"also":[149],"learns":[150],"be":[154],"executed":[155],"high-level":[157],"commands,":[158],"but":[159],"does":[160],"not":[161],"explicit":[164],"structure.":[166],"Both":[167],"provide":[169],"de":[171],"facto":[172],"form":[173],"dictionary":[175],"compression,":[176],"enhances":[178],"effective":[180],"BCI.":[184],"results":[187],"human":[190],"subjects":[191],"who":[192],"successfully":[193],"used":[194],"BCI":[197],"control":[199],"simulated":[201],"PR2":[202],"using":[204],"brain":[205],"signals":[206],"recorded":[207],"non-invasively":[208],"through":[209],"electroencephalography":[210],"(EEG).":[211]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":3},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":5},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
