Dataset Information

Bayesian learning from multi-way EEG feedback for robot navigation and target identification.

ABSTRACT: Many brain-computer interfaces require a high mental workload. Recent research has shown that this could be greatly alleviated through machine learning, inferring user intentions via reactive brain responses. These signals are generated spontaneously while users merely observe assistive robots performing tasks. Using reactive brain signals, existing studies have addressed robot navigation tasks with a very limited number of potential target locations. Moreover, they use only binary, error-vs-correct classification of robot actions, leaving more detailed information unutilised. In this study a virtual robot had to navigate towards, and identify, target locations in both small and large grids, wherein any location could be the target. For the first time, we apply a system utilising detailed EEG information: 4-way classification of movements is performed, including specific information regarding when the target is reached. Additionally, we classify whether targets are correctly identified. Our proposed Bayesian strategy infers the most likely target location from the brain's responses. The experimental results show that our novel use of detailed information facilitates a more efficient and robust system than the state-of-the-art. Furthermore, unlike state-of-the-art approaches, we show scalability of our proposed approach: By tuning parameters appropriately, our strategy correctly identifies 98% of targets, even in large search spaces.

SUBMITTER: Wirth C

PROVIDER: S-EPMC10560278 | biostudies-literature | 2023 Oct

REPOSITORIES: biostudies-literature

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Bayesian learning from multi-way EEG feedback for robot navigation and target identification.

Wirth Christopher C Toth Jake J Arvaneh Mahnaz M

Scientific reports 20231007 1

Many brain-computer interfaces require a high mental workload. Recent research has shown that this could be greatly alleviated through machine learning, inferring user intentions via reactive brain responses. These signals are generated spontaneously while users merely observe assistive robots performing tasks. Using reactive brain signals, existing studies have addressed robot navigation tasks with a very limited number of potential target locations. Moreover, they use only binary, error-vs-cor ...[more]

PMID: 37805540

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Project description:The brain must coordinate with redundant bodies to perform motion tasks. The aim of the present study is to propose a novel control model that predicts the characteristics of human joint coordination at a behavioral level. To evaluate the joint coordination, an uncontrolled manifold (UCM) analysis that focuses on the trial-to-trial variance of joints has been proposed. The UCM is a nonlinear manifold associated with redundant kinematics. In this study, we directly applied the notion of the UCM to our proposed control model called the "UCM reference feedback control." To simplify the problem, the present study considered how the redundant joints were controlled to regulate a given target hand position. We considered a conventional method that pre-determined a unique target joint trajectory by inverse kinematics or any other optimization method. In contrast, our proposed control method generates a UCM as a control target at each time step. The target UCM is a subspace of joint angles whose variability does not affect the hand position. The joint combination in the target UCM is then selected so as to minimize the cost function, which consisted of the joint torque and torque change. To examine whether the proposed method could reproduce human-like joint coordination, we conducted simulation and measurement experiments. In the simulation experiments, a three-link arm with a shoulder, elbow, and wrist regulates a one-dimensional target of a hand through proposed method. In the measurement experiments, subjects performed a one-dimensional target-tracking task. The kinematics, dynamics, and joint coordination were quantitatively compared with the simulation data of the proposed method. As a result, the UCM reference feedback control could quantitatively reproduce the difference of the mean value for the end hand position between the initial postures, the peaks of the bell-shape tangential hand velocity, the sum of the squared torque, the mean value for the torque change, the variance components, and the index of synergy as well as the human subjects. We concluded that UCM reference feedback control can reproduce human-like joint coordination. The inference for motor control of the human central nervous system based on the proposed method was discussed.

Dataset Information

Bayesian learning from multi-way EEG feedback for robot navigation and target identification.

Publications

Bayesian learning from multi-way EEG feedback for robot navigation and target identification.

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