  In this paper we present an architecture for the operation of an assistive
robot finally aimed at allowing users with severe motion disabilities to
perform manipulation tasks that may help in daily-life operations. The robotic
system, based on a lightweight robot manipulator, receives high level commands
from the user through a Brain-Computer Interface based on P300 paradigm. The
motion of the manipulator is controlled relying on a closed loop inverse
kinematic algorithm that simultaneously manages multiple set-based and
equality-based tasks. The software architecture is developed relying on widely
used frameworks to operate BCIs and robots (namely, BCI2000 for the operation
of the BCI and ROS for the control of the manipulator) integrating control,
perception and communication modules developed for the application at hand.
Preliminary experiments have been conducted to show the potentialities of the
developed architecture.
