A Human-Machine Interface Based on an EOG and a Gyroscope for Humanoid Robot Control and Its Application to Home Services

Table 3

The performance metrics of the proposed HMI during the humanoid robot control experiment.

Subject	RT (s)	ACC (%)	FPR (event/min)	ITR (bit/min)
S1	2.82	99.5	0.21	111.6
S2	2.68	99.4	0.28	117.2
S3	2.59	99.2	0.36	120.0
S4	2.58	99.5	0.29	122.3
S5	3.10	99.1	0.51	100.5
S6	2.70	99.6	0.18	116.9
S7	2.49	99.8	0.13	127.4
S8	2.82	99.3	0.19	111.1
S9	2.66	99.6	0.31	118.8
S10	2.71	99.1	0.23	115.0
S11	2.76	99.4	0.17	114.0
S12	2.65	98.9	0.29	117.0
S13	3.18	99.2	0.24	98.3
S14	2.82	99.5	0.29	111.8
S15	2.87	99.1	0.34	108.9
S16	2.82	99.3	0.19	111.1
Average	2.77	99.3	0.26	113.9