APRÈN. Portal de la producció docent del professorat de la UPC

Brain-computer interfaces (BCI) have been studied for decades for their potential to control devices by monitoring brain activity. Specifically, MI-based BCI systems (Motor Imagery) have proven highly effective in the field of neurorehabilitation, as the brain patterns generated closely resemble those produced during actual movements. This work proposes a protocol designed to acquire and analyze BCI data using the Bitbrain Hero Helmet device, aiming to explore its use in practical applications. The project is part of POSMOFYA, an acronym for the Hybrid Platform of OrthosisWheelchair to ensure compatibility of Mobility, Functionality, and Acceptability for use in domestic environments. This hybrid platform, as its name suggests, integrates an automated wheelchair and a robotic arm. The ultimate goal is to enable efficient and practical control in domestic environments. The developed protocol is based on principles of robustness and precision, aiming to enhance the ability to recognize users' movement intentions. This work is structured into several phases, beginning with the experimental design. Using the PsychoPy software and the LabStreaming Layer (LSL) protocol, motor imagery tasks were defined focusing on two specific actions: right wrist flexion and left wrist flexion. These tasks were designed to generate brain patterns associated with clear movement intentions, with the goal of training a Machine Learning (ML) system. The strategy ensures precise and consistent capture of brain signals, essential for advancing the development of practical applications within the project framework. The results reflect the challenges of working with EEG signals. Although the Decision Tree algorithm applied to Common Spatial Patterns (CSP) achieved a validation accuracy of 42.9% in offline mode, and K-Nearest Neighbors (KNN) reached 51.0% accuracy with literature-based features, the predictions were biased towards a single class. This highlights limitations in signal discrimination and variability between sessions. Despite the difficulties, the project has provided valuable lessons: the need to improve EEG systems and explore advanced techniques such as Regularized CSP or hybrid methods with deep learning to increase robustness and precision. Additionally, the basic steps of the online pipeline were validated, indicating that better optimization could result in more reliable practical applications. These findings not only highlight the field's challenges but also point to opportunities for improvement in future research.

This final degree thesis seeks to develop and define a workflow that allows to establish a classification method for sarcoidosis, an autoimmune and systemic disease, based on the appropriate clinical experience acquired so far and based on clinical data and 18F-FDG PET/CT whole body studies of different patients. The combination of computed tomography with positron emission tomography (PET/CT) with the radiotracer fluorine-18-fluorodeoxyglucose (18F-FDG) is a non-invasive imaging technique in nuclear medicine that, by combining the two modalities, allows obtaining information about the metabolic activity and anatomical structure of the organism, and is especially useful in diagnosis and follow-up. For this reason, the Nuclear Medicine Service of Hospital Clínic proposes a project with a line of research focused on evaluating the capacity of PET/CT to identify subclinical systemic inflammation in primary Sjögren's syndrome (pSS) and analyze its characteristics. Due to the lack of data from patients with pSS and the similarity of pathogenic, immunogenetic and clinical characteristics of this disease with sarcoidosis, a study flow of a control group of patients with sarcoidosis will be defined, which, in the future, could be applicable to the study of pSS. To establish this workflow, the creation of a database through the REDCap platform is proposed to ensure uniformity in the recording of data. Furthermore, the MIM software (7.3.3 version) is used as a semi-automatic segmentation tool for the regions of interest (ROI) and finally, the Pyradiomics radiomics flow from Python is applied to extract a variety of lesion features. As a last step, a statistical study of the characteristics is carried out to design a classification method.

This project presents the development of a non-invasive sensory feedback system, based on vibratory and mecano-tactile stimuli, to enhance the functionality and usability of arm prostheses. The main objective is to provide tactile and force feedback to the user, thereby increasing the perception of applied pressure and object texture, without generating a significant cognitive load and allowing for a more intuitive use of the prostheses. The project includes everything from the conception of the sensory feedback idea to electronic and mechanical design, as well as the fabrication of the prototype using 3D printing in various materials. Additionally, a study and trials have been conducted in real-world environments to validate the device's utility. This prototype is designed to be adaptable with any type of prosthesis on the market, thanks to its flexible support and adjustable mechanisms. Preliminary tests have demonstrated the system's ability to accurately transmit data and generate appropriate tactile responses. The results have validated that the device allows for effective tactile and force feedback, expanding the capabilities of the prostheses. This includes recognizing different hardness levels in objects and controlling force to manipulate fragile objects, enabling tasks that would be impossible without feedback.

Aquest projecte pretén millorar la interacció humà-ordinador mitjançant el desenvolupament de sensors multimaterial impresos en 3D, centrant-se específicament en el disseny i construcció d'un dispositiu de control. El principi de funcionament del sensor es basa en la teoria de la resistència variable, aquesta teoria varia la tensió o el corrent en un circuit com a resultat del desplaçament físic dels seus components conductors. Per això s'han utilitzat principalment dos materials. Un material s'utilitza amb finalitats estructurals per donar forma al sensor, mentre que l'altre material és conductor i s'utilitza per generar resistència, fent un paper crucial en el control de les accions. Per comprendre plenament el comportament del material com a resistència variable, la tesi detalla diverses proves realitzades per avaluar-ne les característiques, aquests assaigs no només il·lustren el mecanisme, sinó que també serveixen per validar la robustesa i l'estabilitat d'aquest enfocament de procés. Es van utilitzar mostres amb diferents formes, patrons de rebliment i quantitats de material per provar la conductivitat elèctrica. L'objectiu era determinar la millor configuració per a un sensor de joystick amb dos graus de llibertat (DoF). Com a resultat d‟aquestes proves, s‟obté que el material té un comportament similar sobre diferents components a escala, també es comprova que la relació entre la quantitat de material utilitzat i la resistència és lineal amb un valor r2 del 96%. A més, s'ha dissenyat un banc de proves que utilitza un servomotor com a actuador principal per analitzar la precisió, la repetitivitat i la durabilitat del material. Aquesta avaluació va proporcionar informació sobre la resistència i la reacció del material a l'ús simulat d'un joystick. Aquest banc de treball ens va donar una resolució de 46.767 mV/º, valors semblants a través dels mateixos angles durant diverses repeticions i un comportament constant a través del temps. Finalment s'ha dissenyat i desenvolupat un sensor de joystick 2 DoF completament funcional utilitzant les dades agrupades d'aquests estudis. Les peces i els dispositius esmentats en aquest treball han estat fabricats en la seva totalitat utilitzant les instal·lacions d'impressió 3D del laboratori de fabricació digital de l'Escola Tècnica Superior d'Enginyeria Industrial de Barcelona (ETSEIB).

Premature rupture of membranes is one of the complications associated with fetal surgery, specifically in fetoscopy, which poses a great risk to the fetus during pregnancy. From the Institute of Gynecology and Obstetrics of the Hospital Clínic, a line of research focused on the study of ultrasound images (acquired in the days prior to the operation) is proposed, in order to create a classification model capable of identifying those women most likely to suffer rupture of the amniotic sac. For this reason, it is proposed to start the study by extracting the uterine membranous structures from the images, to obtain the data set with which to train the classification model. In order to support this purpose, the idea of this project was born, focused on the development of an image segmentation software whose purpose is to automate and speed up the process of extraction of membranous structures. In this project, MATLAB is used as a tool for image processing and data analysis. Different techniques for the treatment of ultrasound scans are evaluated, choosing those that best suit the needs required. As a result, two different segmentation methods are obtained that are evaluated using statistical metrics to choose the one that is optimal for the purpose of the project. Finally, the method is implemented in new ultrasound images to analyze its efficiency and accuracy.

This project is based on the idea of using 3D printed sensors with the aim of controlling a mobility aidance platform (wheelchair). The sensors have been designed in other projects and printed in the digital manufacturing space of the ETSEIB. Mainly, two types of sensors have been used, one that will from now on be called tape type and basically consists of a plastic tape with a resistive component inside, and a joystick type that contains 4 resistive elements (one for each direction). The principle of operation of the sensors is based on the variation of electrical resistance because of the displacement applied on them. To extract a control signal from these sensors, there has been some research on the different methods used to read variable resistances. It has been considered that the most useful thing is to read the voltage using a voltage divider or a Wheatstone bridge because we are only interested in being able to generate the control signal and not to read the resistance itself. In this phase, it has been considered necessary to amplify the signal due to the low variation of the voltage level as the reading range of the different ADCs was not fully used. In addition, due to noise, it has been considered convenient to apply some methods to filter the signal. Once achieved a reading with low noise, anomalous behaviours (drops in resistance when exerting a traction force on the sensor) have been observed and it has been considered necessary to perform various tests to model the behaviour of the sensor depending on the displacement applied. Once the behaviour has been established, using the reading of the sensors, a control signal has been created. To test the operation of this control signal, it has been necessary to simulate the chair, since it has not yet been built. The simulation has been done using a CAD sketch of the chair and using Gazebo (which is included in the ROS library) as a simulator. Finally, the economic and environmental analysis of the project has been carried out

This research focuses on finding solutions to enhance the quality of life for wheelchair users, specifically by applying a gaze-tracking-based interface for the guidance of a robotized wheelchair. For this purpose, the interface was applied in two different approaches for the wheelchair control system. The first one was an assisted control in which the user was continuously involved in controlling the movement of the wheelchair in the environment and the inclination of the different parts of the seat through the user's gaze and eye blinks obtained with the interface. The second approach was to take the first steps to apply the device to an autonomous wheelchair control in which the wheelchair moves autonomously avoiding collisions towards the position defined by the user. To this end, the basis for obtaining the gaze position relative to the wheelchair and the object detection was developed in this project to be able to calculate in the future the optimal route to which the wheelchair should move. In addition, the integration of a robotic arm in the wheelchair to manipulate different objects was also considered, obtaining in this work the object of interest indicated by the user's gaze within the detected objects so that in the future the robotic arm could select and pick up the object the user wants to manipulate. In addition to the two approaches, an attempt was also made to estimate the user's gaze without the software interface. For this purpose, the gaze is obtained from pupil detection libraries, a calibration and a mathematical model that relates pupil positions to gaze. The results of the implementations have been analysed in this work, including some limitations encountered. Nevertheless, future improvements are proposed, with the aim of increasing the independence of wheelchair users

Quan volem agafar un objecte sigui de sobre una taula o d'un armari, no pensem que hagi de ser una acció molt dificultosa, però per les persones amb discapacitat física pot ser un problema del dia a dia. Per això requereixen assistència o bé humana o bé robòtica. En aquest projecte es buscarà una manera per tal que el model de robot Baxter pugui ser d'ajuda per persones amb discapacitats físiques i les assisteixi amb feines del dia a dia tan bàsiques com agafar un objecte. La idea inicial del projecte era ajustar moviments autònoms programats a interaccions amb l'usuari i l'entorn. Com que no ha estat possible a causa de les restriccions de l'entorn de treball, s'ha acabat dissenyant una interfície perquè l'usuari, mitjançant un aparell d'entrada, pugui controlar manualment el moviment del robot.

Echocardiography is a non-invasive image diagnosis technique where ultrasound waves are used to obtain an image or sequence of the structure and function of the heart. The segmentation of the heart chambers on ultrasound images is a task usually performed by experienced cardiologists, in which they delineate and extract the shape of both atriums and ventricles to obtain important indexes of a patient's heart condition. However, this task is usually hard to perform accurately due to the poor image quality caused by the equipment and techniques used and due to the variability across different patients and pathologies. Therefore, medical image processing is needed in this particular case to avoid inaccuracy and obtain proper results. Over the last decade, several studies have proved that deep learning techniques are a possible solution to this problem, obtaining good results in automatic segmentation. The major problem with deep learning techniques in medical image processing is the lack of available data to train and test these architectures. In this work we have trained, validated, and tested a convolutional neural network based on the architecture of U-Net for 2D echocardiogram chamber segmentation. The data used for the training of the convolutional neural network was the B-Mode 4-chamber apical view Echogan dataset with data augmentation techniques applied. The novelty of this work is the hyperparameter and architecture optimizations to reduce the computation time while obtaining significant training and testing accuracies

This project is the study and design of a haptic joystick for a robotic wheelchair with a robotic arm. The designed joystick is capable of giving orders in 5 Degrees of Freedom (DOF) and that the user perceives the forces of interaction with the environment (haptic feedback). This environment-chair and chair-user communication provides driving assistance and control of the robotic chair and arm. To carry out this communication, the mechanism consists of actuators that make haptic feedback possible and sensors that make control of the chair and arm possible. To achieve this objective, a methodology organized in four parts has been followed. The first part is a study on the different haptic interfaces that exist and, later, a study focused on haptic devices that use haptic feedback. This section introduces the technical concepts discussed throughout the project. The second part is the development of a state of the art that includes devices with similar characteristics to what is to be designed. Information has been collected on different control devices and special attention has been paid to the DOF of the mechanism and whether or not they have haptic feedback. The third part is the development of the controller design. This section shows the evolution of the design and the calculations made to size the actuators and sensors of the mechanism. The fourth and last part was the adaptation of the design for manufacturing in 3D printing. In this part, finite element analysis of the parts to be printed have been carried out and a budget has been prepared with the commercial and printed components that make up the joystick.

En aquest treball hem creat un joc seriòs basat en el controlador Leap Motion per a fer un acompanyament a la teràpia de rehabilitació que segueixen les persones amb Distròfia Muscular de Duchenne. El joc és el conegut joc de bitlles tradicional amb elements extres com estrelles, limitació de temps o rampes per augmentar la motivació del jugador. El joc està basat en l'articulació del canell i els moviments de la mà són captats pel dispositiu Leap Motion. L'objectiu del projecte és motivar als pacients a seguir correctament la teràpia mitjançant la gamificació. Un dels objectius del projecte és també que el pacient sigui conscient dels moviments que fa i faci esforços per controlar-los. Del joc se'n extreuen fitxers del tipus Excel amb diferents dades recollides pel Leap Motion que indiquen quins moviments ha seguit la mà i així el fisioterapeuta que segueix la capacitat de moviment del pacient pot fer un estudi més acurat de com evoluciona la malaltia

El càncer colorectal és un dels càncers diagnosticats amb més freqüència a Espanya: per l'any 2021 s'espera que el nombre de diagnòstics sigui de més de 43000 casos nous. La probabilitat de supervivència depèn en gran mesura del punt del cicle de desenvolupament del tumor en què es detecta. De mitjana, aquesta pot disminuir del 90-92 % al 25-55 % en el pas dels primers estadis als últims o, fins i tot, a un 8 % si el tumor afecta altres òrgans. Així doncs, un diagnòstic precoç pot fer que la probabilitat de superar el càncer augmenti de manera notable. Per aquesta raó és molt important realitzar procediments exploratoris i garantir la seva eficiència. Una de les tècniques més eficaces i esteses mundialment en la detecció d'anomalies als intestins és la colonoscòpia. En general, és una tècnica segura, però en ser mínimament invasiva, no està exempta de riscs, com ara hemorràgies o perforacions de les parets de l'intestí. Per tal degarantir la seguretat del pacient, cada cop més s'estan investigant alternatives a la colonoscòpia convencional. Dues d'aquestes són la colonoscòpia virtual, on s'utilitzen models virtuals dels intestins del pacient, i la colonoscòpia assistida, on les accions rutinàries puguin ser realitzades per un robot. En aquest projecte es presenta una metodologia per obtenir models d'intestins realistes per a la simulació de colonoscòpies. A partir del seu ús és possible (i) formar els metges o realitzar entrenaments abans d'intervencions i (ii) recollir dades per entrenar xarxes neuronals ques'integraran en sistemes de colonoscòpia robotitzats. De cara a poder obtenir uns models realistes, en primer lloc s'ha hagut d'investigar sobre què és la colonoscòpia, quina és l'anatomia i l'aparença interior de l'intestí gros humà i quins simuladors i propostes de models existeixen actualment. Això es recull als apartats 4 i 2, respectivament. A continuació, s'ha realitzat la reconstrucció dels intestins de diferents pacients (apartat 5) ide diferents pòlips (apartat 6) a partir d'imatges tomogràfiques. Per simular el comportamentmecànic i de col·lisions i incorporar textura a la paret dels intestins, s'ha utilitzat SOFA, un programari de simulació en temps real molt present en l'àmbit de la simulació mèdica. L'optimització dels models i de la simulació s'ha dut a terme a través de la selecció de malles de diferents resolucions per a cadascun dels objectius. La creació de les escenes de simulació a SOFA es recull a l'apartat 7. Finalment, a l'apartat 8 es dóna realisme visual als models utilitzant Blender i Unity. En primer lloc, s'ha generat la textura de l'intestí i la dels pòlips i, per acabar, s'han introduït diferents efectes de llum i de càmera per tal d'aconseguir una experiència immersiva per a l'usuari del simulador. A l'apartat 9 es fa un recull dels resultats obtinguts amb la metodologia proposada. L'obtenció d'aquests models de simulació suposa un avenç en els camps de l'enginyeria biomèdica i de la medicina. Al llarg del procés, els resultats s'han validat parcialment amb professionals especialitzats en colonoscòpies, però en els propers mesos es duran a terme les verificacions finals per detectar errors i introduir els canvis o les millores necessàries

Robotic Minimally Invasive Surgery is one of the surgical fields in which robotics is most extended. Minimally Invasive Surgery is used in fetal surgery for the correction of TTTS, among others pathologies. This technique has great complexity and long learning curves. To improve this surgery a robot-assisted TTTS surgery-oriented teleoperation platform was developed by the robotic division of the CREB-UPC. This work integrates in this teleoperation system a set of improvements at a high-level control oriented to improve dexterity, safety and agility of the setup. This improvements are all implemented using a hierarchical based multi-task control. The control improvements are based on redundant and collaborative robots. This work studies the way to exploit the robot kinematic redundancy to increase the dexterity and reachability of the current teleoperation platform and optimize its space occupancy. Moreover, this work also studies collaborative strategies in the surgical workspace, to increase safety in human-robot interactions and optimize the platform preoperative set-up. The outcomes of this work will be integrated in the actual robotic teleoperated platform by replacing the current slave robot for a redundant and collaborative robot

The increasing demand on food leads to applying agriculture methods to increase the overall crop productivity. Most of the farmers decide to use chemical herbicides to get rid off the weeds that grow among the crop in order to avoid crop losses. Most of these chemical products cause an increase on the pollution on soil, on air and on water, damaging the flora, fauna and of course the humans. On the other hand, the concept of organic agriculture is recently being demanded by a lot of people that are conscious of the intrinsic dangers that cause the chemical herbicides used in agriculture. The drawbacks of the organic agriculture is that it takes time and effort, translated into additional costs for the farmer. That's why farmers with large extension of crop fields are starting to try different tools in order to automate these tasks. Most of these tools are based on robotic systems or autonomous vehicles like Unmanned Aerial Vehicles (UAV) or Unmanned Ground Vehicles (UGV) that are able to perceive the current state of the field like crop health, total crop area, etc., and in some cases, these vehicles are also able to act over the field by performing actions like weeding or the process of getting rid of the weeds. Other methods that can be inside or not of the organic agriculture, are the precision agriculture techniques, mostly based on not only to cover the supervision of an area of crop, but the crop individually. The methods of mapping the position of each crop and to retrieve the health or the volume of a single crop, even to detect and remove any weed detected, are inside the precision agriculture concept. In precision agriculture pipeline, first of all it is necessary to detect what is desired to detect. If this is achieved, then the mapping and other geometric techniques can be performed properly. But the first part based on the detection stage is not as straightforward as it may seem. Classical machine learning techniques based on computer vision like localizing objects from the image, are based on image binarization by threshold and then on counting the blobs of the binary image. This method can only be applied if the physical conditions that are taken into account during the parameter tuning, are the same than the conditions taking place in each of the future situations. Concerning a real-world application, it has to be assumed that there will be changing physical conditions. That's why it is necessary to use the deep learning techniques in order to handle or generalize the predictions or classifications when the conditions change or when unknown situations are present when the robotic system is supervising the crop. This project is focused on the weed localization or targeting, and it is one of many others that are taking place in Earth Rover Europe, S.L. The main project of the company is to develop a rover or a mobile robot able to supervise and map the crop individually and also to remove weed plants from the crop fields.

Aquesta memòria recull el procés d'anàlisi estadística de dades de posició i temps d'un dispositiu de formació i avaluació en tècniques endoscòpiques. L'estudi, que ha involucrat a estudiants, residents i professionals ginecològics, té com a objectiu l'avaluació de la plataforma en el context d'una futura adaptació en el sistema oficial europeu d'avaluació en tècniques endoscòpiques ginecològiques. Per donar validesa al dispositiu, s'ha comprovat si aquest és capaç de distingir i classificar els usuaris en dos grups diferents, definits segons la seva experiència prèvia en aquest tipus d'intervencions quirúrgiques. Per fer-ho, s'ha portat a terme el disseny de diferents paràmetres estadístics utilitzats en la literatura que permeten avaluar el rendiment de l'usuari a nivell multivariable. A partir de la comparació dels resultats dels dos grups participants, s'ha observat que existeixen diferències robustes. Alhora, també s'han detectat diferències significatives en ambdós grups entre la primera repetició i l'última amb el dispositiu. L'existència de diferències significatives ha portat l'estudi a la conclusió que el dispositiu és vàlid per a la formació i avaluació en tècniques endoscòpiques en el camp de la ginecologia.

Medical Robots is the field focused on improving and making easier the work of medical personnel in certain interventions with the help of robotic systems. Because of this, although some of them are already in use, there is a large number of R&D projects, especially in soft tissues. In this case, this project deals with the improvement of fetal surgery, more specifically in the treatment of Twin-to-Twin Transfusion Syndrome. TTTS is a syndrome that affects pregnancy in twins. When it occurs, during the development of fetuses, there is an interconnection between the blood vessels of both in points called anastomosis. These connections cause the exchange of blood flow between both fetuses and, if it is not treated by fetal surgery, results in the death of both twins. A teleoperated robotic system is being developed in the ESAII laboratory to provide help and assistance to the surgeon during these surgeries. In this project an automation of the robotic system is implemented. It is done by means of using the work environment information collected and Computer Vision tools. The objective is to create an automatic movement of the robot through the fastest and safest path from one point to other over the placenta´s surface. This report details everything about the project development. It is also described the main topics related to the project as the global robotic system, designed and made in the ESAII laboratory of the UPC; the fetal surgery and the current state of the art around this type of medical robots.

This work consists in the design and development of a user interface for the interaction between a surgeon and a surgical robot. The application is integrated into a specific teleoperation system for laser fetoscopy as a treatment for Twin-Twin Transfusion Syndrome.

A dia d'avui s'han desenvolupat nombrosos sistemes robòtics per l'assistència i rehabilitació de persones amb mobilitat reduïda, com per exemple els exoesquelets. Al llarg del plantejament de noves solucions els investigadors i enginyers empren eines de simulació com el software OpenSim, que ofereix la possibilitat de recrear el moviment hum`a, estalviant així temps i esforç a l'hora d'idear nous sistemes de control o de comprovar la bondat dels existents. L'objectiu d'aquest projecte ´es el desenvolupar un model en OpenSim de la unió entre un exoesquelet i un model musculoesquelètic amb la finalitat de simular diferents moviments, obtenint així informació dinàmica i cinemàtica de les articulacions del model, tant de l'exoesquelet com del sistema musculoesquelètic. El desenvolupament del model s'ha realitzat mitjan¸cant el software SolidWorks per la construcció de la geometria de l'exoesquelet i el software OpenSim per l'elaboració del model complert i la realització de la validació i simulació de la marxa humana sana. Els resultats obtinguts es presenten de forma gràfica per tal de realitzar una comparació més visual. Els resultats referents a la validació del model són positius, ja que els valors obtinguts de la simulació son similars als extrets de forma experimental, tot i que millorables. En quant a les dades extretes de la simulació de la marxa humana s'assemblen als valors estàndard, pel que es conclou que els objectius plantejats per a aquest projecte es compleixen.

The mobility of the lower extremities may be affected by neurological conditions such as stroke or spinal cord injury. When, motor function, gait coordination and muscle strength are impaired. Rehabilitation can improve the autonomy of legs movement in order to carry out everyday tasks such as walking or stand up, also known as a Sit-To-stand. Sit-To-Stand is a task that requires considerable effort for those who have suffered a stroke or other type of injury. To perform the Sit-To-stand movement there are variables such as force, velocities, position angles, among others that can be modeled with the use of robotic exoskeletons. This project develops a Sit-To-Stand control strategy implemented in a robotic exoskeleton. This is based on previous work on the development of control strategies for the rehabilitation of the Sit-ToStand. Where Sit-To-Stand transition phases combined with position and admittance control strategies are used. The objectives of this project are to find optimal values of the angles of the joints involved in the transition of the phases and to propose an improvement in the control strategy to assist people with lower extremities movements.

Everyday robots are more involved in our daily basis and they are expected to be part of the domestic environment eventually. Assertive robots deal with this scenario providing help to people with certain disabilities, a task that requires an intuitive communication between human and robot. One of the control methods that have become popular is the Brain Computer Interfaces (BCI), using electroencephalography (EEG) signals to read the user's intention. Commonly applied to let the user choose among several options, without further interaction once the robot starts acting. This project explain a method to interpret the EEG signal online and use it to manipulate online the movement of a robot arm. The signal that is received comes from Motion Imagery to allow the user to communicate constantly his intention. Using Dynamic Movement Primitives (DMP) and Virtual Force Systems the stored trajectories of the robot can be modified online trying to adapt to the user's will. With this elements the trajectories are applied in a real robot arm, chequing online if all the requested goals are feasible positions for the robot. This method intend to make more natural the collaboration with a robot in domestic tasks, where slight modifications of an action can lead into a more satisfactory interaction.