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Typically, tuning curves in motor cortex are constructed by fitting the firing rate of a neuron as a function of some observed action, such as arm direction or movement speed. These tuning curves are then often interpreted causally as representing the firing rate as a function of the desired movement, or intent. This interpretation implicitly assumes that the motor command and the motor act are equivalent. However, any kind of perturbation, be it external, such as a visuomotor rotation, or internal, such as muscle fatigue, can create a difference between the motor intent and the action. How do we estimate the tuning curve under these conditions? Furthermore, it is well known that, during learning or adaptation, the relationship between neural firing and the observed movement can change. Does this change indicate a change in the inputs to the population, or a change in the way those inputs are processed? In this work, we present a method to infer the latent, unobserved inputs into the population of recorded neurons. Using data from nonhuman primates performing brain-computer interface experiments, we show that tuning curves based on these latent directions fit better than tuning curves based on actual movements. Finally, using data from a brain-computer interface learning experiment in which half of the units were decoded incorrectly, we demonstrate how this method might differentiate various aspects of motor adaptation.

Proceedings Of The 6Th International Bci Meeting: Bci Past, Present, And Future

Arm movement is well represented in populations of neurons recorded from the motor cortex. Cortical activity patterns have been used in the new field of brain-machine interfaces to show how cursors on computer displays can be moved in two- and three-dimensional space. Although the ability to move a cursor can be useful in its own right, this technology could be applied to restore arm and hand function for amputees and paralysed persons. However, the use of cortical signals to control a multi-jointed prosthetic device for direct real-time interaction with the physical environment ('embodiment') has not been demonstrated. Here we describe a system that permits embodied prosthetic control; we show how monkeys (Macaca mulatta) use their motor cortical activity to control a mechanized arm replica in a self-feeding task. In addition to the three dimensions of movement, the subjects' cortical signals also proportionally controlled a gripper on the end of the arm. Owing to the physical interaction between the monkey, the robotic arm and objects in the workspace, this new task presented a higher level of difficulty than previous virtual (cursor-control) experiments. Apart from an example of simple one-dimensional control, previous experiments have lacked physical interaction even in cases where a robotic arm or hand was included in the control loop, because the subjects did not use it to interact with physical objects-an interaction that cannot be fully simulated. This demonstration of multi-degree-of-freedom embodied prosthetic control paves the way towards the development of dexterous prosthetic devices that could ultimately achieve arm and hand function at a near-natural level.

We propose a Multivariate Gaussian Process Factor Model to estimate low dimensional spatio-temporal patterns of finger motion in repeated reach-to-grasp movements. Our model decomposes and reduces the dimensionality of variation of the multivariate functional data. We first account for time variability through multivariate functional registration, then decompose finger motion into a term that is shared among replications and a term that encodes the variation per replication. We discuss variants of our model, estimation algorithms, and we evaluate its performance in simulations and in data collected from a non-human primate executing a reach-to-grasp task. We show that by taking advantage of the repeated trial structure of the experiments, our model yields an intuitive way to interpret the time and replication variation in our kinematic dataset.

Successful implementation of a brain-computer interface depends critically on the subject's ability to learn how to modulate the neurons controlling the device. However, the subject's learning process is probably the least understood aspect of the control loop. How should training be adjusted to facilitate dexterous control of a prosthetic device? An effective training schedule should manipulate the difficulty of the task to provide enough information to guide improvement without overwhelming the subject. In this paper, we introduce a bayesian framework for modeling the closed-loop BCI learning process that treats the subject as a bandwidth-limited communication channel. We then develop an adaptive algorithm to find the optimal difficulty-schedule for performance improvement. Simulation results demonstrate that our algorithm yields faster learning rates than several other heuristic training schedules, and provides insight into the factors that might affect the learning process.