Dataset Information

High Precision Neural Decoding of Complex Movement Trajectories using Recursive Bayesian Estimation with Dynamic Movement Primitives.

ABSTRACT: Brain-machine interfaces (BMIs) are a rapidly progressing technology with the potential to restore function to victims of severe paralysis via neural control of robotic systems. Great strides have been made in directly mapping a user's cortical activity to control of the individual degrees of freedom of robotic end-effectors. While BMIs have yet to achieve the level of reliability desired for widespread clinical use, environmental sensors (e.g. RGB-D cameras for object detection) and prior knowledge of common movement trajectories hold great potential for improving system performance. Here we present a novel sensor fusion paradigm for BMIs that capitalizes on information able to be extracted from the environment to greatly improve the performance of control. This was accomplished by using dynamic movement primitives to model the 3D endpoint trajectories of manipulating various objects. We then used a switching unscented Kalman filter to continuously arbitrate between the 3D endpoint kinematics predicted by the dynamic movement primitives and control derived from neural signals. We experimentally validated our system by decoding 3D endpoint trajectories executed by a non-human primate manipulating four different objects at various locations. Performance using our system showed a dramatic improvement over using neural signals alone, with median distance between actual and decoded trajectories decreasing from 31.1 cm to 9.9 cm, and mean correlation increasing from 0.80 to 0.98. Our results indicate that our sensor fusion framework can dramatically increase the fidelity of neural prosthetic trajectory decoding.

SUBMITTER: Hotson G

PROVIDER: S-EPMC5473343 | biostudies-literature | 2016 Jul

REPOSITORIES: biostudies-literature

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High Precision Neural Decoding of Complex Movement Trajectories using Recursive Bayesian Estimation with Dynamic Movement Primitives.

Hotson Guy G Smith Ryan J RJ Rouse Adam G AG Schieber Marc H MH Thakor Nitish V NV Wester Brock A BA

IEEE robotics and automation letters 20160111 2

Brain-machine interfaces (BMIs) are a rapidly progressing technology with the potential to restore function to victims of severe paralysis via neural control of robotic systems. Great strides have been made in directly mapping a user's cortical activity to control of the individual degrees of freedom of robotic end-effectors. While BMIs have yet to achieve the level of reliability desired for widespread clinical use, environmental sensors (e.g. RGB-D cameras for object detection) and prior knowl ...[more]

PMID: 28630937

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Project description:Although efforts to characterize human movement through electroencephalography (EEG) have revealed neural activities unique to limb control that can be used to infer movement kinematics, it is still unknown the extent to which EEG can be used to discern the expressive qualities that influence such movements. In this study we used EEG and inertial sensors to record brain activity and movement of five skilled and certified Laban Movement Analysis (LMA) dancers. Each dancer performed whole body movements of three Action types: movements devoid of expressive qualities ("Neutral"), non-expressive movements while thinking about specific expressive qualities ("Think"), and enacted expressive movements ("Do"). The expressive movement qualities that were used in the "Think" and "Do" actions consisted of a sequence of eight Laban Effort qualities as defined by LMA-a notation system and language for describing, visualizing, interpreting and documenting all varieties of human movement. We used delta band (0.2-4 Hz) EEG as input to a machine learning algorithm that computed locality-preserving Fisher's discriminant analysis (LFDA) for dimensionality reduction followed by Gaussian mixture models (GMMs) to decode the type of Action. We also trained our LFDA-GMM models to classify all the possible combinations of Action Type and Laban Effort quality (giving a total of 17 classes). Classification accuracy rates were 59.4 ± 0.6% for Action Type and 88.2 ± 0.7% for Laban Effort quality Type. Ancillary analyses of the potential relations between the EEG and movement kinematics of the dancer's body, indicated that motion-related artifacts did not significantly influence our classification results. In summary, this research demonstrates that EEG has valuable information about the expressive qualities of movement. These results may have applications for advancing the understanding of the neural basis of expressive movements and for the development of neuroprosthetics to restore movements.

Project description:BackgroundSystems biology increasingly relies on deep sequencing with combinatorial index tags to associate biological sequences with their sample, cell, or molecule of origin. Accurate data interpretation depends on the ability to classify sequences based on correct decoding of these combinatorial barcodes. The probability of correct decoding is influenced by both sequence quality and the number and arrangement of barcodes. The rising complexity of experimental designs calls for a probability model that accounts for both sequencing errors and random noise, generalizes to multiple combinatorial tags, and can handle any barcoding scheme. The needs for reproducibility and community benchmark standards demand a peer-reviewed tool that preserves decoding quality scores and provides tunable control over classification confidence that balances precision and recall. Moreover, continuous improvements in sequencing throughput require a fast, parallelized and scalable implementation.Results and discussionWe developed a flexible, robustly engineered software that performs probabilistic decoding and supports arbitrarily complex barcoding designs. Pheniqs computes the full posterior decoding error probability of observed barcodes by consulting basecalling quality scores and prior distributions, and reports sequences and confidence scores in Sequence Alignment/Map (SAM) fields. The product of posteriors for multiple independent barcodes provides an overall confidence score for each read. Pheniqs achieves greater accuracy than minimum edit distance or simple maximum likelihood estimation, and it scales linearly with core count to enable the classification of > 11 billion reads in 1 h 15 m using < 50 megabytes of memory. Pheniqs has been in production use for seven years in our genomics core facility.ConclusionWe introduce a computationally efficient software that implements both probabilistic and minimum distance decoders and show that decoding barcodes using posterior probabilities is more accurate than available methods. Pheniqs allows fine-tuning of decoding sensitivity using intuitive confidence thresholds and is extensible with alternative decoders and new error models. Any arbitrary arrangement of barcodes is easily configured, enabling computation of combinatorial confidence scores for any barcoding strategy. An optimized multithreaded implementation assures that Pheniqs is faster and scales better with complex barcode sets than existing tools. Support for POSIX streams and multiple sequencing formats enables easy integration with automated analysis pipelines.

Project description:Background: Realization of online control of an artificial or virtual arm using information decoded from EEG normally occurs by classifying different activation states or voluntary modulation of the sensorimotor activity linked to different overt actions of the subject. However, using a more natural control scheme, such as decoding the trajectory of imagined 3D arm movements to move a prosthetic, robotic, or virtual arm has been reported in a limited amount of studies, all using offline feed-forward control schemes. Objective: In this study, we report the first attempt to realize online control of two virtual arms generating movements toward three targets/arm in 3D space. The 3D trajectory of imagined arm movements was decoded from power spectral density of mu, low beta, high beta, and low gamma EEG oscillations using multiple linear regression. The analysis was performed on a dataset recorded from three subjects in seven sessions wherein each session comprised three experimental blocks: an offline calibration block and two online feedback blocks. Target classification accuracy using predicted trajectories of the virtual arms was computed and compared with results of a filter-bank common spatial patterns (FBCSP) based multi-class classification method involving mutual information (MI) selection and linear discriminant analysis (LDA) modules. Main Results: Target classification accuracy from predicted trajectory of imagined 3D arm movements in the offline runs for two subjects (mean 45%, std 5%) was significantly higher (p < 0.05) than chance level (33.3%). Nevertheless, the accuracy during real-time control of the virtual arms using the trajectory decoded directly from EEG was in the range of chance level (33.3%). However, the results of two subjects show that false-positive feedback may increase the accuracy in closed-loop. The FBCSP based multi-class classification method distinguished imagined movements of left and right arm with reasonable accuracy for two of the three subjects (mean 70%, std 5% compared to 50% chance level). However, classification of the imagined arm movement toward three targets was not successful with the FBCSP classifier as the achieved accuracy (mean 33%, std 5%) was similar to the chance level (33.3%). Sub-optimal components of the multi-session experimental paradigm were identified, and an improved paradigm proposed.

Dataset Information

High Precision Neural Decoding of Complex Movement Trajectories using Recursive Bayesian Estimation with Dynamic Movement Primitives.

Publications

High Precision Neural Decoding of Complex Movement Trajectories using Recursive Bayesian Estimation with Dynamic Movement Primitives.

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