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Optimal feedback control is an established framework that is used to characterize human movement. However, it is not fully understood how the brain computes optimal gains through interactions with the environment. In the past study, we proposed a model of motor learning that identifies a set of feedback and feedforward controllers and a state predictor of the arm musculoskeletal system to control free reaching movements. In this study, we applied the model to force field adaptation tasks where normal reaching movements are disturbed by an external force imposed on the hand. Without a priori knowledge about the arm and environment, the model was able to adapt to the force field by generating counteracting forces to overcome it in a manner similar to what is reported in the behavioral literature. The kinematics of the movements generated by our model share characteristic features of human movements observed before and after force field adaptation. In addition, we demonstrate that the structure and learning algorithm introduced in our model induced a shift in the end-point's equilibrium position and a static force modulation, accompanied by a fast and a slow learning process. Importantly, our model does not require desired trajectories, yields movements without specifying movement duration, and predicts force generation patterns by exploring the environment. Our model demonstrates a possible mechanism through which the central nervous system may control and adapt a point-to-point reaching movement without specifying a desired trajectory by continuously updating the body's musculoskeletal model.

There are few EEG studies on finger movement directions because ocular artifacts also convey directional information, which makes it hard to separate the contribution of EEG from that of the ocular artifacts. To overcome this issue, we designed an experiment in which EEG’s temporal dynamics and spatial information are evaluated together to improve the performance of brain-computer interface (BCI) for classifying finger movement directions. Six volunteers participated in the study. We examined their EEG using decoding analyses. Independent components (ICs) that represented brain-source signals successfully classified the directions of the finger movements with higher rates than chance level. The weight analyses of the classifiers revealed that maximal performance of the classification was recorded at the latencies prior to the onset of finger movements. The weight analyses also revealed the relevant cortical areas including the right lingual, left posterior cingulate, left inferior temporal gyrus, and right precuneus, which indicated the involvement of the visuospatial processing. We concluded that combining spatial distribution and temporal dynamics of the scalp EEG may improve BCI performance.

Muscle synergy analysis via surface electromyography (EMG) is useful to study muscle coordination in motor learning, clinical diagnosis, and neurorehabilitation. However, current methods to extract muscle synergies in the upper limb suffer from two major issues. First, the necessary normalization of EMG signals is performed via maximum voluntary contraction (MVC), which requires maximal isometric force production in each muscle. However, some individuals with motor impairments have difficulties producing maximal effort in the MVC task. In addition, the MVC is known to be highly unreliable, with widely different forces produced in repeated measures. Second, synergy extraction in the upper limb is typically performed with a multidirection reaching task. However, some participants with motor impairments cannot perform this task because it requires precise motor control. In this study, we proposed a new isometric rotating task that does not require precise motor control or large forces. In this task, participants maintain a cursor controlled by the arm end-point force on a target that rotates at a constant angular velocity at a designated force level. To relax constraints on motor control precision, the target is widened and blurred. To obtain a reference EMG value for normalization without requiring maximal effort, we estimated a linear relationship between joint torques and muscle activations. We assessed the reliability of joint torque normalization and synergy extraction in the rotating task in young neurotypical individuals. Compared with normalization with MVC, joint torque normalization allowed reliable EMG normalization at low force levels. In addition, the extraction of synergies was as reliable and more stable than with the multidirection reaching task. The proposed rotating task can, therefore, be used in future motor learning, clinical diagnosis, and neurorehabilitation studies.

In various experimental settings, electromyography (EMG) signals have been used to control robots. EMG-based robot control requires intrinsic parameters for control, which makes it difficult for users to understand the input protocol. When a proper input is not provided, the response time of the system varies; as such, the user’s subjective delay should be investigated regardless of the actual delay. In this study, we investigated the influence of the subjective perception of delay on brain activation. Brain recordings were taken while subjects used EMG signals to control a robot hand, which requires a basic processing delay. We used muscle synergy for the grip command of the robot hand. After controlling the robot by grasping their hand, one of four additional delay durations (0 ms, 50 ms, 125 ms, and 250 ms) was applied in every trial, and subjects were instructed to answer whether the delay was natural, additional, or whether they were not sure. We compared brain activity based on responses (“sure” and “not sure”). Our results revealed a significant power difference in the theta band of the parietal lobe, and this time range included the interval in which the subjects could not feel the delay. Our study provides important insights that should be considered when constructing an adaptive system and evaluating its usability.

Error-related brain activation has been investigated for advanced brain-machine interfaces (BMI). However, how a delayed response of cursor control in BMI systems should be handled is not clear. Therefore, the purpose of this study was to investigate how participants responded to delayed cursor control. Six subjects participated in the experiment and performed a wrist-bending task. For three distinct delay intervals (an interval where participants could not perceive the delay, an interval where participants could not be sure whether there was a delay or not, and an interval where participants could perceive the delay), we assessed two types of binary classifications (“Yes + No” vs. “I don’t know” and “Yes” vs. “No”) based on participants’ responses and applied delay times (thus, four types of classification, overall). For most participants, the “Yes vs. No” classification had higher accuracy than “Yes + No” vs. “I don’t know” classification. For the “Yes + No” vs. “I don’t know” classification, most participants displayed higher accuracy based on response classification than delay classification. Our results demonstrate that a class only for “I don’t know” largely contributed to these differences. Many independent components (ICs) that exhibited high accuracy in “Yes + No” vs. “I don’t know” response classification were associated with activation of areas from the frontal to parietal lobes, while many ICs that showed high accuracy in the “Yes vs. No” classification were associated with activation of an area ranging from the parietal to the occipital lobes and were more broadly localized in cortical regions than was seen for the “Yes + No” vs. “I don’t know” classification. Our results suggest that small and large delays in real-time cursor control differ not only in the magnitude of the delay but should be handled as distinct information in different ways and might involve differential processing in the brain.

Studying brain function is a challenging task. In the past, we could only study brain anatomical structures post-mortem, or infer brain functions from clinical data of patients with a brain injury. Nowadays technology, such as functional magnetic resonance imaging (fMRI), enable non-invasive brain activity observation. Several approaches have been proposed to interpret brain activity data. The brain connectivity model is a graphical tool that represents the interaction between brain regions, during certain states. It depicts how a brain region cause changes to other parts of the brain, which can be implied as information flow. This model can be used to help interpret how the brain works. There are several mathematical frameworks that can be used to infer the connectivity model from brain activity signals. Granger causality is one such approach and is one of the first that has been applied to brain activity data. However, due to the concept of the framework, such as the use of pairwise correlation, combined with the limitation of brain activity data such as low temporal resolution in case of fMRI signal, makes the interpretation of the connectivity difficult. We therefore propose the application of the Tigramite causal discovery framework on fMRI data. The Tigramite framework uses measures such as causal effect to analyze causal relations in the system. This enables the framework to identify both direct and indirect pathways or connectivities. In this paper, we applied the framework to the Human Connectome Project motor task-fMRI dataset. We then present the results and discuss how the framework improves interpretability of the connectivity model. We hope that this framework will help us understand more complex brain functions such as memory, consciousness, or the resting-state of the brain, in the future.

The Partial Least Square Regression (PLSR) exhibits admirable competence for predicting continuous variables from inter-correlated brain recordings in the brain-computer interface. However, PLSR is in essence formulated based on the least square criterion, thus, being non-robust with respect to noises. The aim of this study is to propose a new robust implementation for PLSR. To this end, the maximum correntropy criterion (MCC) is used to propose a new robust variant of PLSR, called as Partial Maximum Correntropy Regression (PMCR). The half-quadratic optimization is utilized to calculate the robust projectors for the dimensionality reduction, and the regression coefficients are optimized by a fixed-point approach. We evaluate the proposed PMCR with a synthetic example and the public Neurotycho electrocorticography (ECoG) datasets. The extensive experimental results demonstrate that, the proposed PMCR can achieve better prediction performance than the conventional PLSR and existing variants with three different performance indicators in high-dimensional and noisy regression tasks. PMCR can suppress the performance degradation caused by the adverse noise, ameliorating the decoding robustness of the brain-computer interface.

Electroencephalography (EEG) signals do not show electrical neuronal activity at source level. Thus, in EEG-based brain machine interface, information relatively easy to occur, such as motor imagery, has been used. Independent component analysis is a method to estimate multiple sources from EEG signals. If independent components can take some parts encoded by movement direction, it could improve classification performance for brain-machine interface. Therefore, this study aimed to find features contributing to specific direction in planning phase from independent components. Subjects performed a reaching task and were instructed to move their hand to one of five directions. Independent components were calculated from EEG signals during planning phase. We constructed feature vectors of each independent component with analysis of variance (ANOVA) and performed direction classification. Our results showed that using event-related potentials of independent components, classification accuracy were higher than chance level. Independent components that achieved high performance were associated with local region in the brain. Times and duration contributing to high performance were not identical to one another. We confirmed that independent components related to intended direction can be extracted and contributed to high accuracy.

Among brain-computer interface studies, electroencephalography (EEG)-based emotion recognition is receiving attention and some studies have performed regression analyses to recognize small-scale emotional changes, however, effective brain regions in emotion regression analyses have not been identified yet. Accordingly, this study sought to identify neural activities correlating with emotional states in the source space. We employed independent component analysis, followed by a source localization method, to obtain distinct neural activities from EEG signals. After the identification of seven independent component (IC) clusters in a k-means clustering analysis, group-level regression analyses using frequency band power of the ICs were performed based on Russell&rsquo, s valence&ndash, arousal model. As a result, in the regression of the valence level, an IC cluster located in the cuneus predicted both high- and low-valence states and two other IC clusters located in the left precentral gyrus and the precuneus predicted the low-valence state. In the regression of the arousal level, the IC cluster located in the cuneus predicted both high- and low-arousal states and two posterior IC clusters located in the cingulate gyrus and the precuneus predicted the high-arousal state. In this proof-of-concept study, we revealed neural activities correlating with specific emotional states across participants, despite individual differences in emotional processing.

Many previous studies on brain-machine interfaces (BMIs) have focused on electroencephalography (EEG) signals elicited during motor-command execution to generate device commands. However, exploiting pre-execution brain activity related to movement intention could improve the practical applicability of BMIs. Therefore, in this study we investigated whether EEG signals occurring before movement execution could be used to classify movement intention. Six subjects performed reaching tasks that required them to move a cursor to one of four targets distributed horizontally and vertically from the center. Using independent components of EEG acquired during a premovement phase, two-class classifications were performed for left vs. right trials and top vs. bottom trials using a support vector machine. Instructions were presented visually (test) and aurally (condition). In the test condition, accuracy for a single window was about 75%, and it increased to 85% in classification using two windows. In the control condition, accuracy for a single window was about 73%, and it increased to 80% in classification using two windows. Classification results showed that a combination of two windows from different time intervals during the premovement phase improved classification performance in the both conditions compared to a single window classification. By categorizing the independent components according to spatial pattern, we found that information depending on the modality can improve classification performance. We confirmed that EEG signals occurring during movement preparation can be used to control a BMI.

This work provides a low-power method for chaos generation which is generally applicable to nonlinear M/NEMS resonators. The approach taken is independent of the material, scale, design, and actuation of the device in question; it simply assumes a good quality factor and a Duffing type nonlinearity, features that are commonplace to M/NEMS resonators. The approach models the rotating-frame dynamics to analytically constrain the parameter space required for chaos generation. By leveraging these common properties of M/NEMS devices, a period-doubling route to chaos is generated using an order-of-magnitude smaller forcing than typically reported in the literature.

The generation of chaotic signals is relevant to a multitude of applications across telecommunications, random number generation, control, and the realization of distributed sensing systems; in addition, networks of coupled chaotic oscillators replicate diverse emergent phenomena occurring in considerably larger biological neural systems. However, to date, the generation of chaotic signals by means of complementary metal-oxide-silicon (CMOS) integrated circuits has been hampered largely by the need to implement reactive elements, and by limited flexibility. In this paper, we introduce a pure CMOS implementation of a chaos generator based on three inverter rings having lengths equal to the smallest odd prime numbers, i.e., 3, 5, and 7. These rings are cross-coupled via diodes of diverse strengths enabled through pass-gates, and the inverters in the rings are independently current-starved. Through numerical simulations and experiments, it is shown that this new topology can generate chaotic signals over at least four frequency decades. Furthermore, it is demonstrated that the experimental devices have access to a multitude of qualitatively-different dynamical behaviors as a function of the starving currents. In particular, the generation of spiking and bursting signals reminiscent of action potentials are observed, both with and without slower fluctuations which resemble field potentials. Furthermore, instances of oscillation quenching are found, wherein the circuit acts as a nonlinear amplifier yielding 1/ ${f}$ -like stochastic signals. This compact and flexible topology promises to become a foundational cell in the design of integrated circuits requiring area-efficient, low-power, and controllable chaos generation.

We analyzed the contribution of electroencephalogram (EEG) data, age, sex, and personality traits to emotion recognition processes&mdash, through the classification of arousal, valence, and discrete emotions labels&mdash, using feature selection techniques and machine learning classifiers. EEG traits and age, sex, and personality traits were retrieved from a well-known dataset&mdash, AMIGOS&mdash, and two sets of traits were built to analyze the classification performance. We found that age, sex, and personality traits were not significantly associated with the classification of arousal, valence and discrete emotions using machine learning. The added EEG features increased the classification accuracies (compared with the original report), for arousal and valence labels. Classification of arousal and valence labels achieved higher than chance levels, however, they did not exceed 70% accuracy in the different tested scenarios. For discrete emotions, the mean accuracies and the mean area under the curve scores were higher than chance, however, F1 scores were low, implying that several false positives and false negatives were present. This study highlights the performance of EEG traits, age, sex, and personality traits using emotion classifiers. These findings could help to understand the traits relationship in a technological and data level for personalized human-computer interactions systems.

The generation of walking patterns is central to bio-inspired robotics and has been attained using methods encompassing diverse numerical as well as analog implementations. Here, we demonstrate the possibility of synthesizing viable gaits using a paradigmatic low-dimensional non-linear entity, namely, the Rössler system, as a dynamical unit. Through a minimalistic network wherein each instance is univocally associated with one leg, it is possible to readily reproduce the canonical gaits as well as generate new ones via changing the coupling scheme and the associated delays. Varying levels of irregularity can be introduced by rendering individual systems or the entire network chaotic. Moreover, through tailored mapping of the state variables to physical angles, adequate leg trajectories can be accessed directly from the coupled systems. The functionality of the resulting generator was confirmed in laboratory experiments by means of an instrumented six-legged ant-like robot. Owing to their simple form, the 18 coupled equations could be rapidly integrated on a bare-metal microcontroller, leading to the demonstration of real-time robot control navigating an arena using a brain-machine interface.

In this study, seven-channel electromyography signal-based two-dimensional wrist joint movement estimation with and without handgrip motions was carried out. Electromyography signals were analyzed using the synergy-based linear regression model and musculoskeletal model; they were subsequently compared with respect to single and combined wrist joint movements and handgrip. Using each one of wrist motion and grip trial as a training set, the synergy-based linear regression model exhibited a statistically significant performance with 0.7891 ± 0.0844 Pearson correlation coefficient (r) value in two-dimensional wrist motion estimation compared with 0.7608 ± 0.1037 r value of the musculoskeletal model. Estimates on the grip force produced 0.8463 ± 0.0503 r value with 0.2559 ± 0.1397 normalized root-mean-square error of the wrist motion range. This continuous wrist and handgrip estimation can be considered when electromyography-based multi-dimensional input signals in the prosthesis, virtual interface, and rehabilitation are needed.

Muscle synergies are usually identified via dimensionality reduction techniques, such that the identified synergies reconstruct the muscle activity to a level of accuracy defined heuristically, such as 90% of the variance explained. Here, we question the assumption that the residual muscle activity not explained by the synergies is due to noise. We hypothesize instead that the residual activity is structured and can therefore influence the execution of a motor task. Young healthy subjects performed an isometric reaching task in which surface electromyography of 10 arm muscles was mapped onto estimated two-dimensional forces used to control a cursor. Three to five synergies were extracted to account for 90% of the variance explained. We then altered the muscle-force mapping via “hard” and “easy” virtual surgeries. Whereas in both surgeries the forces associated with synergies spanned the same single dimension of the virtual environment, the muscle-force mapping was as close as possible to the initial mapping in the easy surgery and as far as possible in the hard surgery. This design therefore maximized potential differences in reaching errors attributable to the residual muscle activity. Results show that the easy surgery produced much smaller directional errors than the hard task. In addition, systematic estimations of the errors for easy and hard surgeries constructed with 1 to 10 synergies show that the errors differ significantly for up to 8 synergies, which account for 98% of the variance on average. Our study therefore indicates the need for cautious interpretations of results derived from synergy extraction techniques based on heuristics with lenient levels of accuracy.Author summaryThe muscle synergy hypothesis states that the central nervous system simplifies motor control by grouping muscles that share common functions into modules called muscle synergies. Current techniques use unsupervised dimensionality reduction algorithms to identify these synergies. However, these techniques rely on arbitrary criteria to determine the number of synergies, which is actually unknown. An example of such criteria is that the identified synergies must be able to reconstruct the measured muscle activity to at least a 90% level of accuracy. Thus, the residual muscle activity, the remaining 10% of the muscle activity, is often disregarded as noise. We show that residual muscle activity following muscle synergy identification has a large systematic effect on movements even when the number of synergies approaches the number of muscles. This suggests that current synergy extraction techniques may discard a component of muscle activity that is important for motor control. Therefore, current synergy extraction techniques must be updated to identify true physiological synergies.