Fig. 3

Shared-human robot control strategy on a FSM triggered by the electroencephalography and electrooculography interface (EEG/EOG) and the eye-tracking system for the drinking task (black arrow) and the pouring task (red dashed arrow). a Visualization of the whole-arm exoskeleton controlled by EEG/EOG and the eye-tracking system (the same with the Jaco®). Purple arrows indicate horizontal oculoversions EOG to the right (HOVr) and green arrow to the left (HOVl), while “close hand” and “open hand” indicate EEG desynchronization of sensorimotor rhythms (SMR-ERD, 9–15 Hz) related to motor imagery of grasping and releasing motions. Black arrows represent the actions of the whole-arm exoskeleton. b Flowchart of the whole-arm exoskeleton control loop for drinking and pouring (the same with the Jaco®)