Brain-Robot Interface-Based Sound Source Navigation of an Assistive Robot in Industry 4.0

Brain-Robot Interface-Based Sound Source Navigation of an Assistive Robot in Industry 4.0 | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Article Brain-Robot Interface-Based Sound Source Navigation of an Assistive Robot in Industry 4.0 Mukil Saravanan, Abhra Roy Chowdhury This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-6928093/v1 This work is licensed under a CC BY 4.0 License Status: Posted Version 1 posted You are reading this latest preprint version Abstract This paper proposes a bi-modal Brain-Robot Interface (BRI) -based framework to localize a sound source in an industry 4.0 environment with a semi-autonomous mobile robot. The online BRI paradigm introduces a technique to incorporate human motion intentions using Motor Imagery (MI) and intended sound directions using Auditory Steady State Response (ASSR) with a mobile robot in audio-aware industrial beds. A Common Spatial Pattern (CSP)-based Linear Discriminant Analysis (LDA) classification algorithm is utilized so that the direction of the intended sound source is localized from the human electroencephalograph (EEG) signals mounted over the temporal, occipital, and parietal cortices. The entire system has been experimented under different scenarios (with and without background noise) and has been evaluated with proposed reliability metrics. The complete BRI system shows an overall accuracy of 90.47% with MI LDA classifier, over 6 dB differences with ASSR SNR, and reliability scores of 4.07 m-2 and 2.87 m-2 with varying configurations of distance from 2 meters to 6 meters under the influence of background noise. Biological sciences/Computational biology and bioinformatics Social science/Science technology and society Brain-Robot Interface (BRI) Motor Imagery (MI) Auditory Steady-State Response (ASSR) Sound-Source Localization Audio-Aware Navigation Full Text Additional Declarations No competing interests reported. Cite Share Download PDF Status: Posted Version 1 posted You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. Our growing team is made up of researchers and industry professionals working together to solve the most critical problems facing scientific publishing. Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-6928093","acceptedTermsAndConditions":true,"allowDirectSubmit":true,"archivedVersions":[],"articleType":"Article","associatedPublications":[],"authors":[{"id":502270226,"identity":"58c57dfc-47bf-49cb-8ca3-59a3279a2b5e","order_by":0,"name":"Mukil Saravanan","email":"","orcid":"","institution":"Delft University of Technology","correspondingAuthor":false,"prefix":"","firstName":"Mukil","middleName":"","lastName":"Saravanan","suffix":""},{"id":502270227,"identity":"8a129f38-4aa6-4870-b687-8eb9f15ab4a5","order_by":1,"name":"Abhra Roy Chowdhury","email":"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAZAAAAAyAQMAAABI0h/eAAAABlBMVEX///8AAABVwtN+AAAACXBIWXMAAA7EAAAOxAGVKw4bAAAAsUlEQVRIiWNgGAWjYDACCR4gUQEmwVxitZwhWQtjGynu4p/de+zDz3kWMvLtBxg//GCwyCNsyZ1zyTN7t0nwGJxJYJbsYZAoJmzNjRxjBl6QFqAvpIFGJDYQ0iEP1ML4d44Ej/wMBubfRGkxAGph5m0ABsINBjbibDG8c8aYWeYYyC+JbZY9BkRokbvdY8z4pqbOXr798OEbPyrqCGtBAoxAxQYkqB8Fo2AUjIJRgBsAAErSMYLDTNSYAAAAAElFTkSuQmCC","orcid":"","institution":"Indian Institute of Science (IISc)","correspondingAuthor":true,"prefix":"","firstName":"Abhra","middleName":"Roy","lastName":"Chowdhury","suffix":""}],"badges":[],"createdAt":"2025-06-19 06:38:25","currentVersionCode":1,"declarations":"","doi":"10.21203/rs.3.rs-6928093/v1","doiUrl":"https://doi.org/10.21203/rs.3.rs-6928093/v1","draftVersion":[],"editorialEvents":[],"editorialNote":"","failedWorkflow":false,"files":[{"id":90764208,"identity":"2b181df5-d249-4042-8593-bb2fbfacf955","added_by":"auto","created_at":"2025-09-07 17:16:31","extension":"pdf","order_by":1,"title":"","display":"","copyAsset":false,"role":"manuscript-pdf","size":774656,"visible":true,"origin":"","legend":"","description":"","filename":"SpringerNatureLaTeXTemplate21.pdf","url":"https://assets-eu.researchsquare.com/files/rs-6928093/v1_covered_636399e3-92e6-4c3f-998a-a1339f4219ac.pdf"}],"financialInterests":"No competing interests reported.","formattedTitle":"Brain-Robot Interface-Based Sound Source Navigation of an Assistive Robot in Industry 4.0","fulltext":[],"fulltextSource":"","fullText":"","funders":[],"hasAdminPriorityOnWorkflow":false,"hasManuscriptDocX":false,"hasOptedInToPreprint":true,"hasPassedJournalQc":"","hasAnyPriority":false,"hideJournal":true,"highlight":"","institution":"","isAcceptedByJournal":false,"isAuthorSuppliedPdf":true,"isDeskRejected":"","isHiddenFromSearch":false,"isInQc":false,"isInWorkflow":false,"isPdf":true,"isPdfUpToDate":true,"isWithdrawnOrRetracted":false,"journal":{"display":true,"email":"[email protected]","identity":"researchsquare","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":true,"externalIdentity":"","sideBox":"","snPcode":"","submissionUrl":"/submission","title":"Research Square","twitterHandle":"researchsquare","acdcEnabled":true,"dfaEnabled":false,"editorialSystem":"","reportingPortfolio":"","inReviewEnabled":false,"inReviewRevisionsEnabled":true},"keywords":"Brain-Robot Interface (BRI), Motor Imagery (MI), Auditory Steady-State Response (ASSR), Sound-Source Localization, Audio-Aware Navigation","lastPublishedDoi":"10.21203/rs.3.rs-6928093/v1","lastPublishedDoiUrl":"https://doi.org/10.21203/rs.3.rs-6928093/v1","license":{"name":"CC BY 4.0","url":"https://creativecommons.org/licenses/by/4.0/"},"manuscriptAbstract":"\u003cp\u003eThis paper proposes a bi-modal Brain-Robot Interface (BRI) -based framework to localize a sound source in an industry 4.0 environment with a semi-autonomous mobile robot. 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