CHAPTER millan:2006:yearbook/IDIAP Non-Invasive Brain-Actuated Control of a Mobile Robot by Human EEG Millán, José del R. Renkens, F. Mouriño, J. Gerstner, W. 2006 IMIA Yearbook of Medical Informatics 2006 Schattauer Verlag Brain activity recorded non-invasively is sufficient to control a mobile robot if advanced robotics is used in combination with asynchronous EEG analysis and machine learning techniques. Until now brain-actuated control has mainly relied on implanted electrodes, since EEG-based systems have been considered too slow for controlling rapid and complex sequences of movements. We show that two human subjects successfully moved a robot between several rooms by mental control only, using an EEG-based brain-machine interface that recognized three mental states. Mental control was comparable to manual control on the same task with a performance ratio of 0.74.