Rapid calibration of an intracortical brain-computer interface for people with tetraplegia

The Discriminative Kalman Filter for Bayesian Filtering with Nonlinear and Nongaussian Observation Models

The Kalman filter provides a simple and efficient algorithm to compute the posterior distribution for state-space models where both the latent state and measurement models are linear and gaussian. Extensions to the Kalman filter, including the extended and unscented Kalman filters, incorporate linearizations for models where the observation model p ( observation | state ) is nonlinear. We argue that in many cases, a model for p ( state | observation ) proves both easier to learn and more accurate for latent state estimation. Approximating p ( state | observation ) as gaussian leads to a new filtering algorithm, the discriminative Kalman filter (DKF), which can perform well even when p ( observation | state ) is highly nonlinear and/or nongaussian. The approximation, motivated by the Bernstein-von Mises theorem, improves as the dimensionality of the observations increases. The DKF has computational complexity similar to the Kalman filter, allowing it in some cases to perform much faster than particle filters with similar precision, while better accounting for nonlinear and nongaussian observation models than Kalman-based extensions. When the observation model must be learned from training data prior to filtering, off-the-shelf nonlinear and nonparametric regression techniques can provide a gaussian model for p ( observation | state ) that cleanly integrates with the DKF. As part of the BrainGate2 clinical trial, we successfully implemented gaussian process regression with the DKF framework in a brain-computer interface to provide real-time, closed-loop cursor control to a person with a complete spinal cord injury. In this letter, we explore the theory underlying the DKF, exhibit some illustrative examples, and outline potential extensions.

A Weight Transfer Mechanism for Kernel Reinforcement Learning Decoding in Brain-Machine Interfaces

Brain-Machine Interfaces (BMIs) aim to help disabled people brain control the external devices to finish a variety of movement tasks. The neural signals are decoded into the execution commands of the apparatus. However, most of the existing decoding algorithms in BMI are only trained for a single task. When facing a new task, even if it is similar to the previous one, the decoder needs to be re-trained from scratch, which is not efficient. Among the different types of decoders, reinforcement learning (RL) based algorithm has the advantage of adaptive training through trial-and-error over the recalibration used in supervised learning. But most of the RL algorithms in BMI do not actively leverage the acquired knowledge in the old task. In this paper, we propose a kernel RL algorithm with a weight transfer mechanism for new task learning. The existing neural patterns are clustered according to their similarities. A new pattern will be assigned with the weights that are transferred from the closest cluster. In this way, the most similar experiences from the previous task could be re-utilized in the new task to fasten the learning speed. The proposed algorithm is tested on synthetic neural data. Compared with the policy of re-training from scratch, the proposed weight transfer mechanism could maintain a significantly higher performance and achieve a faster learning speed on the new task.

Brain-computer interfaces for communication

Locked-in syndrome (LIS) is characterized by an inability to move or speak in the presence of intact cognition and can be caused by brainstem trauma or neuromuscular disease. Quality of life (QoL) in LIS is strongly impaired by the inability to communicate, which cannot always be remedied by traditional augmentative and alternative communication (AAC) solutions if residual muscle activity is insufficient to control the AAC device. Brain-computer interfaces (BCIs) may offer a solution by employing the person's neural signals instead of relying on muscle activity. Here, we review the latest communication BCI research using noninvasive signal acquisition approaches (electroencephalography, functional magnetic resonance imaging, functional near-infrared spectroscopy) and subdural and intracortical implanted electrodes, and we discuss current efforts to translate research knowledge into usable BCI-enabled communication solutions that aim to improve the QoL of individuals with LIS.

Neural ensemble dynamics in dorsal motor cortex during speech in people with paralysis

Speaking is a sensorimotor behavior whose neural basis is difficult to study with single neuron resolution due to the scarcity of human intracortical measurements. We used electrode arrays to record from the motor cortex 'hand knob' in two people with tetraplegia, an area not previously implicated in speech. Neurons modulated during speaking and during non-speaking movements of the tongue, lips, and jaw. This challenges whether the conventional model of a 'motor homunculus' division by major body regions extends to the single-neuron scale. Spoken words and syllables could be decoded from single trials, demonstrating the potential of intracortical recordings for brain-computer interfaces to restore speech. Two neural population dynamics features previously reported for arm movements were also present during speaking: a component that was mostly invariant across initiating different words, followed by rotatory dynamics during speaking. This suggests that common neural dynamical motifs may underlie movement of arm and speech articulators.

A Graph-Based Hierarchical Attention Model for Movement Intention Detection from EEG Signals

An EEG-based Brain-Computer Interface (BCI) is a system that enables a user to communicate with and intuitively control external devices solely using the user's intentions. Current EEG-based BCI research usually involves a subject-specific adaptation step before a BCI system is ready to be employed by a new user. However, the subject-independent scenario, in which a well-trained model can be directly applied to new users without pre-calibration, is particularly desirable yet rarely explored. Considering this critical gap, our focus in this paper is the subject-independent scenario of EEG-based human intention recognition. We present a G raph-based H ierarchical A ttention M odel (G-HAM) that utilizes the graph structure to represent the spatial information of EEG sensors and the hierarchical attention mechanism to focus on both the most discriminative temporal periods and EEG nodes. Extensive experiments on a large EEG dataset containing 105 subjects indicate that our model is capable of exploiting the underlying invariant EEG patterns across different subjects and generalizing the patterns to new subjects with better performance than a series of state-of-the-art and baseline approaches.

Human motor decoding from neural signals: a review

Many people suffer from movement disability due to amputation or neurological diseases. Fortunately, with modern neurotechnology now it is possible to intercept motor control signals at various points along the neural transduction pathway and use that to drive external devices for communication or control. Here we will review the latest developments in human motor decoding. We reviewed the various strategies to decode motor intention from human and their respective advantages and challenges. Neural control signals can be intercepted at various points in the neural signal transduction pathway, including the brain (electroencephalography, electrocorticography, intracortical recordings), the nerves (peripheral nerve recordings) and the muscles (electromyography). We systematically discussed the sites of signal acquisition, available neural features, signal processing techniques and decoding algorithms in each of these potential interception points. Examples of applications and the current state-of-the-art performance were also reviewed. Although great strides have been made in human motor decoding, we are still far away from achieving naturalistic and dexterous control like our native limbs. Concerted efforts from material scientists, electrical engineers, and healthcare professionals are needed to further advance the field and make the technology widely available in clinical use.

Decoding task engagement from distributed network electrophysiology in humans

OBJECTIVE

Here, our objective was to develop a binary decoder to detect task engagement in humans during two distinct, conflict-based behavioral tasks. Effortful, goal-directed decision-making requires the coordinated action of multiple cognitive processes, including attention, working memory and action selection. That type of mental effort is often dysfunctional in mental disorders, e.g. when a patient attempts to overcome a depression or anxiety-driven habit but feels unable. If the onset of engagement in this type of focused mental activity could be reliably detected, decisional function might be augmented, e.g. through neurostimulation. However, there are no known algorithms for detecting task engagement with rapid time resolution.

APPROACH

We defined a new network measure, fixed canonical correlation (FCCA), specifically suited for neural decoding applications. We extracted FCCA features from local field potential recordings in human volunteers to give a temporally continuous estimate of mental effort, defined by engagement in experimental conflict tasks.

MAIN RESULTS

Using a small number of features per participant, we accurately decoded and distinguished task engagement from other mental activities. Further, the decoder distinguished between engagement in two different conflict-based tasks within seconds of their onset.

SIGNIFICANCE

These results demonstrate that network-level brain activity can detect specific types of mental efforts. This could form the basis of a responsive intervention strategy for decision-making deficits.

Clustering Neural Patterns in Kernel Reinforcement Learning Assists Fast Brain Control in Brain-Machine Interfaces

Neuroprosthesis enables the brain control on the external devices purely using neural activity for paralyzed people. Supervised learning decoders recalibrate or re-fit the discrepancy between the desired target and decoder's output, where the correction may over-dominate the user's intention. Reinforcement learning decoder allows users to actively adjust their brain patterns through trial and error, which better represents the subject's motive. The computational challenge is to quickly establish new state-action mapping before the subject becomes frustrated. Recently proposed quantized attention-gated kernel reinforcement learning (QAGKRL) explores the optimal nonlinear neural-action mapping in the Reproducing Kernel Hilbert Space (RKHS). However, considering all past data in RKHS is less efficient and sensitive to detect the new neural patterns emerging in brain control. In this paper, we propose a clustering-based kernel RL algorithm. New neural patterns emerge and are clustered to represent the novel knowledge in brain control. The current neural data only activate the nearest subspace in RKHS for more efficient decoding. The dynamic clustering makes our algorithm more sensitive to new brain patterns. We test our algorithm on both the synthetic and real-world spike data. Compared with QAGKRL, our algorithm can achieve a quicker knowledge adaptation in brain control with less computational complexity.

Distinct types of neural reorganization during long-term learning

What are the neural mechanisms of skill acquisition? Many studies find that long-term practice is associated with a functional reorganization of cortical neural activity. However, the link between these changes in neural activity and the behavioral improvements that occur is not well understood, especially for long-term learning that takes place over several weeks. To probe this link in detail, we leveraged a brain-computer interface (BCI) paradigm in which rhesus monkeys learned to master nonintuitive mappings between neural spiking in primary motor cortex and computer cursor movement. Critically, these BCI mappings were designed to disambiguate several different possible types of neural reorganization. We found that during the initial phase of learning, lasting minutes to hours, rapid changes in neural activity common to all neurons led to a fast suppression of motor error. In parallel, local changes to individual neurons gradually accrued over several weeks of training. This slower timescale cortical reorganization persisted long after the movement errors had decreased to asymptote and was associated with more efficient control of movement. We conclude that long-term practice evokes two distinct neural reorganization processes with vastly different timescales, leading to different aspects of improvement in motor behavior. NEW & NOTEWORTHY We leveraged a brain-computer interface learning paradigm to track the neural reorganization occurring throughout the full time course of motor skill learning lasting several weeks. We report on two distinct types of neural reorganization that mirror distinct phases of behavioral improvement: a fast phase, in which global reorganization of neural recruitment leads to a quick suppression of motor error, and a slow phase, in which local changes in individual tuning lead to improvements in movement efficiency.

The Potential for a Speech Brain-Computer Interface Using Chronic Electrocorticography

A brain-computer interface (BCI) is a technology that uses neural features to restore or augment the capabilities of its user. A BCI for speech would enable communication in real time via neural correlates of attempted or imagined speech. Such a technology would potentially restore communication and improve quality of life for locked-in patients and other patients with severe communication disorders. There have been many recent developments in neural decoders, neural feature extraction, and brain recording modalities facilitating BCI for the control of prosthetics and in automatic speech recognition (ASR). Indeed, ASR and related fields have developed significantly over the past years, and many lend many insights into the requirements, goals, and strategies for speech BCI. Neural speech decoding is a comparatively new field but has shown much promise with recent studies demonstrating semantic, auditory, and articulatory decoding using electrocorticography (ECoG) and other neural recording modalities. Because the neural representations for speech and language are widely distributed over cortical regions spanning the frontal, parietal, and temporal lobes, the mesoscopic scale of population activity captured by ECoG surface electrode arrays may have distinct advantages for speech BCI, in contrast to the advantages of microelectrode arrays for upper-limb BCI. Nevertheless, there remain many challenges for the translation of speech BCIs to clinical populations. This review discusses and outlines the current state-of-the-art for speech BCI and explores what a speech BCI using chronic ECoG might entail.

Innovations in electrical stimulation harness neural plasticity to restore motor function

Novel technology and innovative stimulation paradigms allow for unprecedented spatiotemporal precision and closed-loop implementation of neurostimulation systems. In turn, precise, closed-loop neurostimulation appears to preferentially drive neural plasticity in motor networks, promoting neural repair. Recent clinical studies demonstrate that electrical stimulation can drive neural plasticity in damaged motor circuits, leading to meaningful improvement in users. Future advances in these areas hold promise for the treatment of a wide range of motor systems disorders.

Cortical control of a tablet computer by people with paralysis

General-purpose computers have become ubiquitous and important for everyday life, but they are difficult for people with paralysis to use. Specialized software and personalized input devices can improve access, but often provide only limited functionality. In this study, three research participants with tetraplegia who had multielectrode arrays implanted in motor cortex as part of the BrainGate2 clinical trial used an intracortical brain-computer interface (iBCI) to control an unmodified commercial tablet computer. Neural activity was decoded in real time as a point-and-click wireless Bluetooth mouse, allowing participants to use common and recreational applications (web browsing, email, chatting, playing music on a piano application, sending text messages, etc.). Two of the participants also used the iBCI to "chat" with each other in real time. This study demonstrates, for the first time, high-performance iBCI control of an unmodified, commercially available, general-purpose mobile computing device by people with tetraplegia.

Robust Closed-Loop Control of a Cursor in a Person with Tetraplegia using Gaussian Process Regression

Intracortical brain computer interfaces can enable individuals with paralysis to control external devices through voluntarily modulated brain activity. Decoding quality has been previously shown to degrade with signal nonstationarities-specifically, the changes in the statistics of the data between training and testing data sets. This includes changes to the neural tuning profiles and baseline shifts in firing rates of recorded neurons, as well as nonphysiological noise. While progress has been made toward providing long-term user control via decoder recalibration, relatively little work has been dedicated to making the decoding algorithm more resilient to signal nonstationarities. Here, we describe how principled kernel selection with gaussian process regression can be used within a Bayesian filtering framework to mitigate the effects of commonly encountered nonstationarities. Given a supervised training set of (neural features, intention to move in a direction)-pairs, we use gaussian process regression to predict the intention given the neural data. We apply kernel embedding for each neural feature with the standard radial basis function. The multiple kernels are then summed together across each neural dimension, which allows the kernel to effectively ignore large differences that occur only in a single feature. The summed kernel is used for real-time predictions of the posterior mean and variance under a gaussian process framework. The predictions are then filtered using the discriminative Kalman filter to produce an estimate of the neural intention given the history of neural data. We refer to the multiple kernel approach combined with the discriminative Kalman filter as the MK-DKF. We found that the MK-DKF decoder was more resilient to nonstationarities frequently encountered in-real world settings yet provided similar performance to the currently used Kalman decoder. These results demonstrate a method by which neural decoding can be made more resistant to nonstationarities.

Liquid-Metal Enabled Droplet Circuits

Conventional electrical circuits are generally rigid in their components and working styles, which are not flexible and stretchable. As an alternative, liquid-metal-based soft electronics offer important opportunities for innovation in modern bioelectronics and electrical engineering. However, their operation in wet environments such as aqueous solution, biological tissue or allied subjects still encounters many technical challenges. Here, we propose a new conceptual electrical circuit, termed as droplet circuit, to fulfill the special needs described above. Such unconventional circuits are immersed in a solution and composed of liquid metal droplets, conductive ions or wires, such as carbon nanotubes. With specifically-designed topological or directional structures/patterns, the liquid-metal droplets composing the circuit can be discrete and disconnected from each other, while achieving the function of electron transport through conductive routes or the quantum tunneling effect. The conductive wires serve as electron transfer stations when the distance between two separate liquid-metal droplets is far beyond that which quantum tunneling effects can support. The unique advantage of the current droplet circuit lies in the fact that it allows parallel electron transport, high flexibility, self-healing, regulation and multi-point connectivity without needing to worry about the circuit break. This would extend the category of classical electrical circuits into newly emerging areas like realizing room temperature quantum computing, making brain-like intelligence or nerve⁻machine interface electronics, etc. The mechanisms and potential scientific issues of the droplet circuits are interpreted and future prospects in this direction are outlined.