Improving signal reliability for on-line joint angle estimation from nerve cuff recordings of muscle afferents

Classification of naturally evoked compound action potentials in peripheral nerve spatiotemporal recordings

Peripheral neural signals have the potential to provide the necessary motor, sensory or autonomic information for robust control in many neuroprosthetic and neuromodulation applications. However, developing methods to recover information encoded in these signals is a significant challenge. We introduce the idea of using spatiotemporal signatures extracted from multi-contact nerve cuff electrode recordings to classify naturally evoked compound action potentials (CAP). 9 Long-Evan rats were implanted with a 56-channel nerve cuff on the sciatic nerve. Afferent activity was selectively evoked in the different fascicles of the sciatic nerve (tibial, peroneal, sural) using mechano-sensory stimuli. Spatiotemporal signatures of recorded CAPs were used to train three different classifiers. Performance was measured based on the classification accuracy, F₁-score, and the ability to reconstruct original firing rates of neural pathways. The mean classification accuracies, for a 3-class problem, for the best performing classifier was 0.686 ± 0.126 and corresponding mean F₁-score was 0.605 ± 0.212. The mean Pearson correlation coefficients between the original firing rates and estimated firing rates found for the best classifier was 0.728 ± 0.276. The proposed method demonstrates the possibility of classifying individual naturally evoked CAPs in peripheral neural signals recorded from extraneural electrodes, allowing for more precise control signals in neuroprosthetic applications.

An Implantable Wireless Neural Interface System for Simultaneous Recording and Stimulation of Peripheral Nerve with a Single Cuff Electrode

Recently, implantable devices have become widely used in neural prostheses because they eliminate endemic drawbacks of conventional percutaneous neural interface systems. However, there are still several issues to be considered: low-efficiency wireless power transmission; wireless data communication over restricted operating distance with high power consumption; and limited functionality, working either as a neural signal recorder or as a stimulator. To overcome these issues, we suggest a novel implantable wireless neural interface system for simultaneous neural signal recording and stimulation using a single cuff electrode. By using widely available commercial off-the-shelf (COTS) components, an easily reconfigurable implantable wireless neural interface system was implemented into one compact module. The implantable device includes a wireless power consortium (WPC)-compliant power transmission circuit, a medical implant communication service (MICS)-band-based radio link and a cuff-electrode path controller for simultaneous neural signal recording and stimulation. During in vivo experiments with rabbit models, the implantable device successfully recorded and stimulated the tibial and peroneal nerves while communicating with the external device. The proposed system can be modified for various implantable medical devices, especially such as closed-loop control based implantable neural prostheses requiring neural signal recording and stimulation at the same time.

ESTIMATION OF ANKLE JOINT ANGLE FROM PERONEAL AND TIBIAL ELECTRONEUROGRAMS — A MUSCLE SPINDLE MODEL APPROACH

This study develops a method for estimating the angle of a passively stretched ankle joint from electroneurograms (ENGs) based on structural muscle spindle models of the tibial and peroneal nerves. Passive ramp-and-hold and alternating stretches of the ankle joint are performed on an anesthetized rabbit. Two cuff electrodes are employed to measure the ENGs of peroneal and tibial nerves simultaneously. From the two ENG signals and the joint angle trajectory, two intrafusal muscle fiber models are constructed and their inverse models are derived. The results of the two models are combined to generate the final angle estimate. An optimization method, called sequential quadratic programming, is employed to find the model parameters that minimize the squared errors between the ankle angles predicted by the model and the measured ankle angles. The performance of the proposed approach is compared with those of an adaptive neuro-fuzzy inference system and an artificial neural network model. The results reveal that the proposed model has the best performance in estimating the ankle joint angle in large-range movements and the smallest tracing error. The proposed method effectively estimates the passive ankle joint angle using the inverse physiological model of an intrafusal muscle fiber.

State-space decoding of primary afferent neuron firing rates

Kinematic state feedback is important for neuroprostheses to generate stable and adaptive movements of an extremity. State information, represented in the firing rates of populations of primary afferent (PA) neurons, can be recorded at the level of the dorsal root ganglia (DRG). Previous work in cats showed the feasibility of using DRG recordings to predict the kinematic state of the hind limb using reverse regression. Although accurate decoding results were attained, reverse regression does not make efficient use of the information embedded in the firing rates of the neural population. In this paper, we present decoding results based on state-space modeling, and show that it is a more principled and more efficient method for decoding the firing rates in an ensemble of PA neurons. In particular, we show that we can extract confounded information from neurons that respond to multiple kinematic parameters, and that including velocity components in the firing rate models significantly increases the accuracy of the decoded trajectory. We show that, on average, state-space decoding is twice as efficient as reverse regression for decoding joint and endpoint kinematics.

Estimation of ankle joint angle from peroneal and tibial electroneurograms based on muscle spindle model

The main goal of this study was to develop a new method of estimating the angle of the passively stretched ankle joint, based on structural muscle spindle models of the tibial and peroneal electroneurograms (ENG). Passive ramp-and-hold and alternating stretches of the ankle joint were performed in a rabbit. Simultaneously, two cuff electrodes were used to record the ENGs of peroneal and tibial nerves. Based on the two ENGs and the joint angle trajectory, two muscle spindle models were constructed and their inverse models were integrated to compute angle estimates. The model parameters were optimized. The performance of our approach was compared with those of the adaptive neuro-fuzzy inference system and artificial neural network model. The results revealed that our model had a better performance of estimating the ankle joint angle in large-range movements and smaller tracking errors. This study provides a new estimation algorithm to extract the joint angle from the information conveyed in a nerve.

Spike sorting of muscle spindle afferent nerve activity recorded with thin-film intrafascicular electrodes

Afferent muscle spindle activity in response to passive muscle stretch was recorded in vivo using thin-film longitudinal intrafascicular electrodes. A neural spike detection and classification scheme was developed for the purpose of separating activity of primary and secondary muscle spindle afferents. The algorithm is based on the multiscale continuous wavelet transform using complex wavelets. The detection scheme outperforms the commonly used threshold detection, especially with recordings having low signal-to-noise ratio. Results of classification of units indicate that the developed classifier is able to isolate activity having linear relationship with muscle length, which is a step towards online model-based estimation of muscle length that can be used in a closed-loop functional electrical stimulation system with natural sensory feedback.

Effects of consecutive slips in nerve signals recorded by implanted cuff electrode

Using an anaesthetized cat's central footpad pressed against an object as the model of a paralyzed human hand, a nerve signal recording system was developed to measure the effect of a group of consecutive slips between the footpad and the object. Electroneurographic (ENG) activity was recorded using a cuff electrode implanted around the tibial nerve. The relationship between the recorded nerve signals during consecutive slips was investigated. The analyzed results showed that the amplitude of the ENG signal corresponding to the first slip was significantly greater than subsequent slips. It was also shown that there was no significant difference in the amplitude of the ENG signal in subsequent slips. When the slip signal is used as a feedback and control signal for FES, two different thresholds or scaling factors should be applied for consecutive slips.

Model-based ankle joint angle tracing by cuff electrode recordings of peroneal and tibial nerves

The main goal of the present study was to estimate the ankle joint angle from the peroneal and tibial electroneurography (ENG) recordings. Two single-channel cuff electrodes for recording ENG were placed on the proximal part of rabbit peroneal and tibial nerves respectively and static positioning and ramp-and-hold stretches were performed to characterize the static and dynamic ENG responses. An ENG model, consisting of static and dynamic parts, was constructed to relate ENG to ankle angle trajectory and an inverse ENG model was derived to predict ankle angle. The results showed that the new model could accurately estimate large-range ankle angles during and after ramp-and-hold movements. Our study provides a basis for implementing joint angle tracing without using artificial angle sensors.

A critical review of interfaces with the peripheral nervous system for the control of neuroprostheses and hybrid bionic systems

Considerable scientific and technological efforts have been devoted to develop neuroprostheses and hybrid bionic systems that link the human nervous system with electronic or robotic prostheses, with the main aim of restoring motor and sensory functions in disabled patients. A number of neuroprostheses use interfaces with peripheral nerves or muscles for neuromuscular stimulation and signal recording. Herein, we provide a critical overview of the peripheral interfaces available and trace their use from research to clinical application in controlling artificial and robotic prostheses. The first section reviews the different types of non-invasive and invasive electrodes, which include surface and muscular electrodes that can record EMG signals from and stimulate the underlying or implanted muscles. Extraneural electrodes, such as cuff and epineurial electrodes, provide simultaneous interface with many axons in the nerve, whereas intrafascicular, penetrating, and regenerative electrodes may contact small groups of axons within a nerve fascicle. Biological, technological, and material science issues are also reviewed relative to the problems of electrode design and tissue injury. The last section reviews different strategies for the use of information recorded from peripheral interfaces and the current state of control neuroprostheses and hybrid bionic systems.

Estimation of peroneal and tibial afferent activity from a multichannel cuff placed on the sciatic nerve

The afferent signals recorded with a multi-electrode cuff on the sciatic nerve were employed to investigate the possibility of extracting components ascending from the peroneal and tibial nerves. Two methods, an inverse regression model and principal component method, were studied. The parameters of inverse regression model, determined by data collected in semistatic conditions, were validated by data collected in dynamic conditions. The results showed that the regression model, which used only two channels of the sciatic recordings, was sufficient to separate the distal afferent components. The model, at the expense of requiring distal branch recordings for estimating model parameters, yielded better separation than the principal component method. In conclusion, peroneal and tibial afferent activity can be estimated from the sciatic nerve: the principal component method is suitable for applications focused on acquiring afferent information, whereas the inverse regression model is better for applications in which stimulations will be applied to the branches. The estimation technique provides a powerful tool for in vivo investigation of sensory information transmitted in a peripheral nerve and facilitates implementation of advanced functional neuromuscular stimulation systems.