Computational reproductions of external force field adaption without assuming desired trajectories.

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.

Independent control of cocontraction and reciprocal activity during goal-directed reaching in muscle space.

The movement in a joint is facilitated by a pair of muscles that pull in opposite directions. The difference in the pair's muscle force or reciprocal activity results in joint torque, while the overlapping muscle force or the cocontraction is related to the joint's stiffness. Cocontraction knowingly adapts implicitly over a number of movements, but it is unclear whether the central nervous system can actively regulate cocontraction in a goal-directed manner in a short span of time.

Analogous adaptations in speed, impulse and endpoint stiffness when learning a real and virtual insertion task with haptic feedback.

Humans have the ability to use a diverse range of handheld tools. Owing to its versatility, a virtual environment with haptic feedback of the force is ideally suited to investigating motor learning during tool use. However, few simulators exist to recreate the dynamic interactions during real tool use, and no study has compared the correlates of motor learning between a real and virtual tooling task.

Muscle Synergy and Musculoskeletal Model-Based Continuous Multi-Dimensional Estimation of Wrist and Hand Motions.

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.

Control of a Robot Arm Using Decoded Joint Angles from Electrocorticograms in Primate.

Electrocorticogram (ECoG) is a well-known recording method for the less invasive brain machine interface (BMI). Our previous studies have succeeded in predicting muscle activities and arm trajectories from ECoG signals. Despite such successful studies, there still remain solving works for the purpose of realizing an ECoG-based prosthesis.

Reduced Effort Does Not Imply Slacking: Responsiveness to Error Increases With Robotic Assistance.

In both neurorehabilitation and functional augmentation, the patient or the user's muscular effort diminishes when the movement of their limb is supported by a robot. Is this relaxation a result of "slacking" by letting the robot take-over the movement, resulting in less responsiveness in the task? To address this question, we tested subjects who controlled a virtual cursor isometrically to track a moving target without and with different assistants. We measured the force applied by the subject as a metric for effort and estimated their control gain as the metric for responsiveness in the task.

Decoding of Ankle Flexion and Extension from Cortical Current Sources Estimated from Non-invasive Brain Activity Recording Methods.

The classification of ankle movements from non-invasive brain recordings can be applied to a brain-computer interface (BCI) to control exoskeletons, prosthesis, and functional electrical stimulators for the benefit of patients with walking impairments. In this research, ankle flexion and extension tasks at two force levels in both legs, were classified from cortical current sources estimated by a hierarchical variational Bayesian method, using electroencephalography (EEG) and functional magnetic resonance imaging (fMRI) recordings. The hierarchical prior for the current source estimation from EEG was obtained from activated brain areas and their intensities from an fMRI group (second-level) analysis.

Decoding finger movement in humans using synergy of EEG cortical current signals.

The synchronized activity of neuronal populations across multiple distant brain areas may reflect coordinated interactions of large-scale brain networks. Currently, there is no established method to investigate the temporal transitions between these large-scale networks that would allow, for example, to decode finger movements. Here we applied a matrix factorization method employing principal component and temporal independent component analyses to identify brain activity synchronizations.

Mapping ECoG channel contributions to trajectory and muscle activity prediction in human sensorimotor cortex.

Studies on brain-machine interface techniques have shown that electrocorticography (ECoG) is an effective modality for predicting limb trajectories and muscle activity in humans. Motor control studies have also identified distributions of "extrinsic-like" and "intrinsic-like" neurons in the premotor (PM) and primary motor (M1) cortices. Here, we investigated whether trajectories and muscle activity predicted from ECoG were obtained based on signals derived from extrinsic-like or intrinsic-like neurons.

Decoding of Covert Vowel Articulation Using Electroencephalography Cortical Currents.

With the goal of providing assistive technology for the communication impaired, we proposed electroencephalography (EEG) cortical currents as a new approach for EEG-based brain-computer interface spellers. EEG cortical currents were estimated with a variational Bayesian method that uses functional magnetic resonance imaging (fMRI) data as a hierarchical prior. EEG and fMRI data were recorded from ten healthy participants during covert articulation of Japanese vowels /a/ and /i/, as well as during a no-imagery control task.

Real-Time Control of a Video Game Using Eye Movements and Two Temporal EEG Sensors.

EEG-controlled gaming applications range widely from strictly medical to completely nonmedical applications. Games can provide not only entertainment but also strong motivation for practicing, thereby achieving better control with rehabilitation system. In this paper we present real-time control of video game with eye movements for asynchronous and noninvasive communication system using two temporal EEG sensors.

Decoding fingertip trajectory from electrocorticographic signals in humans.

Seeking to apply brain-machine interface technology in neuroprosthetics, a number of methods for predicting trajectory of the elbow and wrist have been proposed and have shown remarkable results. Recently, the prediction of hand trajectory and classification of hand gestures or grasping types have attracted considerable attention. However, trajectory prediction for precise finger motion has remained a challenge.

Dissociable neural representations of wrist motor coordinate frames in human motor cortices.

There is a growing interest in how the brain transforms body part positioning in the extrinsic environment into an intrinsic coordinate frame during motor control. To explore the human brain areas representing intrinsic and extrinsic coordinate frames, this fMRI study examined neural representation of motor cortices while human participants performed isometric wrist flexions and extensions in different forearm postures, thereby applying the same wrist actions (representing the intrinsic coordinate frame) to different movement directions (representing the extrinsic coordinate frame). Using sparse logistic regression, critical voxels involving pattern information that specifically discriminates wrist action (flexion vs.

Decoding grasp force profile from electrocorticography signals in non-human primate sensorimotor cortex.

The relatively low invasiveness of electrocorticography (ECoG) has made it a promising candidate for the development of practical, high-performance neural prosthetics. Recent ECoG-based studies have shown success in decoding hand and finger movements and muscle activity in reaching and grasping tasks. However, decoding of force profiles is still lacking.

Prediction of hand trajectory from electrocorticography signals in primary motor cortex.

Due to their potential as a control modality in brain-machine interfaces, electrocorticography (ECoG) has received much focus in recent years. Studies using ECoG have come out with success in such endeavors as classification of arm movements and natural grasp types, regression of arm trajectories in two and three dimensions, estimation of muscle activity time series and so on. However, there still remains considerable work to be done before a high performance ECoG-based neural prosthetic can be realized.

Prediction of three-dimensional arm trajectories based on ECoG signals recorded from human sensorimotor cortex.

Brain-machine interface techniques have been applied in a number of studies to control neuromotor prostheses and for neurorehabilitation in the hopes of providing a means to restore lost motor function. Electrocorticography (ECoG) has seen recent use in this regard because it offers a higher spatiotemporal resolution than non-invasive EEG and is less invasive than intracortical microelectrodes. Although several studies have already succeeded in the inference of computer cursor trajectories and finger flexions using human ECoG signals, precise three-dimensional (3D) trajectory reconstruction for a human limb from ECoG has not yet been achieved.

A computational model for optimal muscle activity considering muscle viscoelasticity in wrist movements.

To understand the mechanism of neural motor control, it is important to clarify how the central nervous system organizes the coordination of redundant muscles. Previous studies suggested that muscle activity for step-tracking wrist movements are optimized so as to reduce total effort or end-point variance under neural noise. However, since the muscle dynamics were assumed as a simple linear system, some characteristic patterns of experimental EMG were not seen in the simulated muscle activity of the previous studies.

Prediction of muscle activities from electrocorticograms in primary motor cortex of primates.

Electrocorticography (ECoG) has drawn attention as an effective recording approach for brain-machine interfaces (BMI). Previous studies have succeeded in classifying movement intention and predicting hand trajectories from ECoG. Despite such successes, however, there still remains considerable work for the realization of ECoG-based BMIs as neuroprosthetics.

Dynamic optimization of the sit-to-stand movement.

The purpose of this study was to clarify criteria that can predict trajectories during the sit-to-stand movement. In particular, the minimum jerk and minimum torque-change models were examined. Three patterns of sit-to-stand movement from a chair, i.

Evaluation of a game controller using human stiffness estimated from electromyogram.

A motion controller which has an acceleration sensor increases reality and intuitiveness in sports games. But we adjust not only visible posture but also invisible force like stiffness and viscosity when we play sports. We propose a game controller using player's movement and force by using acceleration and electromyogram(EMG).

A dictionary-driven P300 speller with a modified interface.

P300 spellers are mainly composed of an interface, by which alphanumerical characters are presented to users, and a classification system, which identifies the target character by using acquired EEG data. In this study, we proposed modifications both to the interface and to the classification system, in order to reduce the number of required stimulus repetitions and consequently boost the information transfer rate. We initially incorporated a custom-built dictionary into the classification system, and conducted a study on 14 healthy subjects who copy-spelled 15 four letter words.

Application of covariate shift adaptation techniques in brain-computer interfaces.

A phenomenon often found in session-to-session transfers of brain-computer interfaces (BCIs) is nonstationarity. It can be caused by fatigue and changing attention level of the user, differing electrode placements, varying impedances, among other reasons. Covariate shift adaptation is an effective method that can adapt to the testing sessions without the need for labeling the testing session data.

Single-trial classification of vowel speech imagery using common spatial patterns.

With the goal of providing a speech prosthesis for individuals with severe communication impairments, we propose a control scheme for brain-computer interfaces using vowel speech imagery. Electroencephalography was recorded in three healthy subjects for three tasks, imaginary speech of the English vowels /a/ and /u/, and a no action state as control. Trial averages revealed readiness potentials at 200 ms after stimulus and speech related potentials peaking after 350 ms.

Learning and generation of goal-directed arm reaching from scratch.

In this paper, we propose a computational model for arm reaching control and learning. Our model describes not only the mechanism of motor control but also that of learning. Although several motor control models have been proposed to explain the control mechanism underlying well-trained arm reaching movements, it has not been fully considered how the central nervous system (CNS) learns to control our body.