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Steady-state somatosensory-evoked potential- (SSSEP-) based brain-computer interfaces (BCIs) have been applied for assisting people with physical disabilities since it does not require gaze fixation or long-time training. Despite the advancement of various noninvasive electroencephalogram- (EEG-) based BCI paradigms, researches on SSSEP with the various frequency range and related classification algorithms are relatively unsettled. In this study, we investigated the feasibility of classifying the SSSEP within high-frequency vibration stimuli induced by a versatile coin-type eccentric rotating mass (ERM) motor. Seven healthy subjects performed selective attention (SA) tasks with vibration stimuli attached to the left and right index fingers. Three EEG feature extraction methods, followed by a support vector machine (SVM) classifier, have been tested: common spatial pattern (CSP), filter-bank CSP (FBCSP), and mutual information-based best individual feature (MIBIF) selection after the FBCSP. Consequently, the FBCSP showed the highest performance at 71.5 ± 2.5 % for classifying the left and right-hand SA tasks than the other two methods (i.e., CSP and FBCSP-MIBIF). Based on our findings and approach, the high-frequency vibration stimuli using low-cost coin motors with the FBCSP-based feature selection can be potentially applied to developing practical SSSEP-based BCI systems.

Adaptation in proximal muscles for daily motor tasks after sustained use of a prosthetic hand has not been fully understood.This study aimed to investigate changes in hand functions and activities of proximal muscles after multiple weeks of using a myoelectric prosthetic hand at home.Repeated measures.Four people with traumatic upper-limb loss used a myoelectric prosthetic hand (bebionic) at home over the 6- to 8-week period. A user survey, Orthotics and Prosthetics User Survey for Upper Extremity Functional Status 2.0, was used to measure upper-limb functions and the degree of using the prosthetic hand each week. Their hand functions, muscle activities, and grip-specific neuromuscular effort were evaluated by the Southampton Hand Assessment Procedure at the preassessment and postassessment sessions (PRE and POST, respectively).All subjects increased Southampton Hand Assessment Procedure scores at PRE compared with POST with subject-specific changes in muscle activations. In a detail, at POST, subject 1 reduced the shoulder muscle activity compared with PRE, while at POST, subject 2 reduced biceps activity compared with PRE. At POST, greater pectoralis activity and reduced trapezius activity were observed in subject 3, and greater activity in those two muscles was found in subject 4 compared with PRE.After multiple weeks of using the myoelectric prosthetic hands, their hand functions during ADL tasks were improved and changes in the muscle activities were found.

Force control abilities are essential to interact with objects in our environments. However, there is a lack of evaluation tools and methods to test the force control abilities of the upper limb in evaluating the upper limb functions of prosthetic users. This study aimed to quantify upper limb isometric force control abilities in healthy individuals and prosthetic users using a custom-built handle with a 6-axis force/torque sensor and visual cue, namely an Upper Limb End-effector type Force control test device (ULEF). Feasibilities of the test device were demonstrated through experiments by holding the ULEF with an intact hand among healthy subjects and transradial and wrist amputees with a myoelectric powered prosthetic hand, the bebionic hand. Compared to the healthy individuals, the prosthetic user group demonstrated poor isometric force control abilities in terms of higher control instability during the lateral direction task ( [Formula: see text]). Significantly higher variability in force-generating rates was also found in all task directions in the prosthetic user group ( [Formula: see text]). Compared to the healthy group, the prosthetic user group showed significant small peak biceps activities during the posterior task ( [Formula: see text]) and anterior task ( [Formula: see text]). Quantification of isometric upper limb force control abilities can potentially be beneficial to develop evaluation and research tools for investigating mechanisms underlying force control abilities of prosthetic users and provide guidelines for targeted isometric force control training and prosthesis development.

This paper provides stability analysis of a robust interaction control, nonlinear bang–bang impact control, for one degree-of-freedom robot manipulators. The interaction controller takes advantages of robot joint’s friction that is not helpful for constrained space control usually, has no need to change gains throughout the tasks requiring free space motion, constrained motion, and the transition between the two, and needs virtually no information on robot dynamics for its design and implementation. Despite these advantages, to date, there was no complete and formal proof of its stability, hindering its practical use for interaction tasks requiring robots’ frequent contact with various environments, including humans. A sufficient stability condition was derived based on the L∞ space analysis with its physical implications. Stability condition was found to be only dependent on the intentional time delay for the online lumped robot dynamics estimation and the inertia estimation accuracy and was not dependent on the passive environment properties and disturbances. Interestingly, in the case of the nonlinear bang–bang impact control, joint frictions helped stabilize the robot during the transition from free space to constrained space.

Nowadays, the steady-state somatosensory evoked potential (SSSEP)-based brain-computer interfaces (BCIs) has been developed for improving the quality of daily life for people with physical disabilities. However, due to its poor performance of recognizing selective attention tasks and inattention(rest)-state, the SSSEP-based BCI has not been widely used for practical interfaces. In this paper, we propose a mutual information-based spatio-spectral feature selection method for recognizing selective attention tasks and inattention(rest)-state using dry electrodes considering a real-life application, when vibration stimuli were applied to both index fingers. In our methods, the filter-bank common spatial pattern (FBCSP) was used for extracting spatio-spectral features of the SSSEP. Then, discriminative features were selected using a mutual information-based best individual feature (MIBIF) algorithm. The regularized linear discriminant analysis (RLDA) used as the classifier. The feasibility of the proposed method was demonstrated through eight healthy subjects using the vibration stimuli induced SSSEP with spatially clear and distinguishable patterns for SSSEP-based BCI. From our study, the proposed method showed the best classification accuracy with a kappa value of 0.35±0.17. Furthermore, based on the ANOVA with posthoc tests, the proposed method showed significantly higher accuracy as 57.9% in decoding three classes (p -value

Deep vein thrombosis (DVT) can lead to life-threatening disorders; however, it can only be recognized after its symptom appear. This study proposed a novel method that can detect the early stage of DVT using electromyography (EMG) signals with vibration stimuli using the convolutional neural networks (CNN) algorithm. The feasibility of the method was tested with eight legs before and after the surgical induction of DVT at nine-time points. Furthermore, perfusion pressure (PP), intracompartmental pressure (IP), and shear elastic modulus (SEM) of the tibialis anterior were also collected. In the proposed method, principal component analysis (PCA) and CNN were used to analyze the EMG data and classify it before and after the DVT stages. The cross-validation was performed in two strategies. One is for each leg and the other is the leave-one-leg-out (LOLO), test without any predicted information, for considering the practical diagnostic tool. The results showed that PCA-CNN can classify before and after DVT stages with an average accuracy of 100% (each leg) and 68.4±20.5% (LOLO). Moreover, all-time points (before induction of DVT and eight-time points after DVT) were classified with an average accuracy of 72.0±11.9% which is substantially higher accuracy than the chance levels (11% for 9-class classification). Based on the experimental results in the pig model, the proposed CNN-based method can classify the before- and after-DVT stages with high accuracy. The experimental results can provide a basis for further developing an early diagnostic tool for DVT using only EMG signals with vibration stimuli.

In recent years, myoelectric interfaces using surface electromyogram (EMG) signals have been developed for assisting people with physical disabilities. Especially, in the myoelectric interfaces for robotic hands or arms, decoding the user’s upper-limb movement intentions is cardinal to properly control the prosthesis. However, because previous experiments were implemented with only healthy subjects, the possibility of classifying reaching-to-grasping based on the EMG signals from the residual limb without the below-elbow muscles was not investigated yet. Therefore, we aimed to investigate the possibility of classifying reaching-to-grasping tasks using the EMG from the upper arm and upper body without considering wrist muscles for prosthetic users. In our study, seven healthy subjects, one trans-radial amputee, and one wrist amputee were participated and performed 10 repeatable 12 reaching-to-grasping tasks based on the Southampton Hand Assessment Procedure (SHAP) with 12 different weighted (light and heavy) objects. The acquired EMG was processed using the principal component analysis (PCA) and convolutional neural network (CNN) to decode the tasks. The PCA–CNN method showed that the average accuracies of the healthy subjects were 69.4 ± 11.4%, using only the EMG signals by the upper arm and upper body. The result with the PCA–CNN method showed 8% significantly higher accuracies than the result with the widely used time domain and auto-regressive-support vector machine (TDAR–SVM) method as 61.6 ± 13.7%. However, in the cases of the amputees, the PCA–CNN showed slightly lower performance. In addition, in the aspects of assistant daily living, because grip force is also important when grasping an object after reaching, the possibility of classifying the two light and heavy objects in each reaching-to-grasping task was also investigated. Consequently, the PCA–CNN method showed higher accuracy at 70.1 ± 9.8%. Based on our results, the PCA–CNN method can help to improve the performance of classifying reaching-to-grasping tasks without wrist EMG signals. Our findings and decoding method can be implemented to further develop a practical human–machine interface using EMG signals.

Motor imagery (MI) brain–computer interfaces (BCIs) have been used for a wide variety of applications due to their intuitive matching between the user’s intentions and the performance of tasks. Applying dry electroencephalography (EEG) electrodes to MI BCI applications can resolve many constraints and achieve practicality. In this study, we propose a multi-domain convolutional neural networks (MD-CNN) model that learns subject-specific and electrode-dependent EEG features using a multi-domain structure to improve the classification accuracy of dry electrode MI BCIs. The proposed MD-CNN model is composed of learning layers for three domain representations (time, spatial, and phase). We first evaluated the proposed MD-CNN model using a public dataset to confirm 78.96% classification accuracy for multi-class classification (chance level accuracy: 30%). After that, 10 healthy subjects participated and performed three classes of MI tasks related to lower-limb movement (gait, sitting down, and resting) over two sessions (dry and wet electrodes). Consequently, the proposed MD-CNN model achieved the highest classification accuracy (dry: 58.44%, wet: 58.66%, chance level accuracy: 43.33%) with a three-class classifier and the lowest difference in accuracy between the two electrode types (0.22%, d = 0.0292) compared with the conventional classifiers (FBCSP, EEGNet, ShallowConvNet, and DeepConvNet) that used only a single domain. We expect that the proposed MD-CNN model could be applied for developing robust MI BCI systems with dry electrodes.

Nowadays, pattern recognition or machine learning-based various approaches have been applied to the steady-state somatosensory evoked potential (SSSEP)-based brain-computer interfaces (BCIs) for improving the accuracy of classifying the user's selective attention to vibration stimulation. However, the accuracy still needs to be improved for applying to a real-world environment. In this paper, the subject-transfer strategy based on the convolutional neural network (CNN) was investigated, if it can improve classification accuracy within SSSEP-based BCIs. In our experiment, for the subject-transferring, the supportive subject's data and target subject's data were used to training the common spatial pattern (CSP) for feature extraction and CNN for classification. The SSSEPs were acquired by selective attention to one of the vibration motors (left-hand and right-hand). The experimental results based on 10-fold cross-validation indicate that the subject-transfer method showed approximately 5% higher accuracies than the traditional self-training method, which is training the CSP and CNN using only the target subject's data. Based on these results, we can confirm that the subject-transfer strategy can contribute to improving the accuracy of the SSSEP-based BCIs for real-world applications.

Knowing the material properties of the musculoskeletal soft tissue could be important to develop rehabilitation therapy and surgical procedures. However, there is a lack of devices and information on the viscoelastic properties of soft tissues around the lumbar spine. The goal of this study was to develop a portable quantifying device for providing strain and stress curves of muscles and ligaments around the lumbar spine at various stretching speeds. Each sample was conditioned and applied for 20 repeatable cyclic 5 mm stretch-and-relax trials in the direction and perpendicular direction of the fiber at 2, 3 and 5 mm/s. Our device successfully provided the stress and strain curve of the samples and our results showed that there were significant effects of speed on the young’s modulus of the samples (p &lt, 0.05). Compared to the expensive commercial device, our lower-cost device provided comparable stress and strain curves of the sample. Based on our device and findings, various sizes of samples can be measured and viscoelastic properties of the soft tissues can be obtained. Our portable device and approach can help to investigate young’s modulus of musculoskeletal soft tissues conveniently, and can be a basis for developing a material testing device in a surgical room or various lab environments.

Additional file 1. SPIRIT 2013 Checklist: Recommended items to address in a clinical trial protocol and related documents*.

Additional file 5: Table S1. Trial registration data.

Additional file 2. CBS 2.0 Survey (Conventional group).

Additional file 3. CBS 2.0 Survey (XR group).

Additional file 4. STUDY INFORMATION AND INFORMED CONSENT FORM.

This study aimed to develop an intuitive gait-related motor imagery (MI)-based hybrid brain-computer interface (BCI) controller for a lower-limb exoskeleton and investigate the feasibility of the controller under a practical scenario including stand-up, gait-forward, and sit-down. A filter bank common spatial pattern (FBCSP) and mutual information-based best individual feature (MIBIF) selection were used in the study to decode MI electroencephalogram (EEG) signals and extract a feature matrix as an input to the support vector machine (SVM) classifier. A successive eye-blink switch was sequentially combined with the EEG decoder in operating the lower-limb exoskeleton. Ten subjects demonstrated more than 80% accuracy in both offline (training) and online. All subjects successfully completed a gait task by wearing the lower-limb exoskeleton through the developed real-time BCI controller. The BCI controller achieved a time ratio of 1.45 compared with a manual smartwatch controller. The developed system can potentially be benefit people with neurological disorders who may have difficulties operating manual control.

Knee injuries at risk of post-traumatic knee osteoarthritis (PTOA) and knee osteoarthritis (OA) are closely associated with knee transverse plane and/or frontal plane instability and excessive loading. However, most existing training and rehabilitation devices involve mainly movements in the sagittal plane. An offaxis elliptical training system was developed to train and evaluate neuromuscular control about the off-axes (knee varus/valgus and tibial rotation) as well as the main flexion/extension axis (sagittal movements). Effects of the offaxis elliptical training system in improving either transverse or frontal neuromuscular control depending on subjects’ need (Pivoting group, Sliding group) were demonstrated through 6 week subject-specific neuromuscular training on subjects with knee injuries at risk of PTOA or medial knee osteoarthritis. The combined pivoting and sliding group, named as offxis group demonstrated significant reduction in pivoting instability, minimum pivoting angle, and sliding instability. The pivoting group showed more reduction in pivoting instability, maximum and minimum pivoting angle than the sliding group. On the other hand, the sliding group showed more reduction in sliding instability, maximum and minimum sliding distance than the pivoting group. Based on these findings, the offaxis elliptical trainer system can potentially be used as a therapeutic and research tool to train human subjects for plane-dependent improvements for their neuromuscular control during functional weight-bearing stepping movements.

In recent years, the steady-state somatosensory evoked potential (SSSEP)-based brain-computer interfaces (BCIs) have been developed for assisting people with physical disabilities. However, due to its no well-designed standard tactile vibration stimulator to elicit the SSSEP, the SSSEP-based BCI has not been widely used to real-world applications. In this study, we aim to SSSEP-based BCI with high-frequency vibration stimuli. In our experiments, the stimuli were constructed using the coin vibration motor which controlled by the Arduino. The feasibility of the high-frequency vibration stimuli to elicit SSSEP was validated with SSSEP data from two healthy participants. For data collection, the vibration stimuli were attached on the index finger of the left and right hand. And the participant concentrated on one of the vibration stimuli following the visual commands. For the data analysis, the spatial features were extracted from the acquired EEG signals using the common spatial pattern (CSP) filtering. The regularized linear discriminant analysis (RLDA) also used as a classifier. The experimental results showed that the user's selective attention to one of the high-frequency vibration stimuli was classified with averaged 61.7±9.4%. Based on the experimental results, we can conclude that the SSSEP can elicit by the high-frequency vibration stimuli and it can be used to the BCI.