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Mallat S, Hkiri E, Albarrak AM, Louhichi B. A Synergy of Convolutional Neural Networks for Sensor-Based EEG Brain-Computer Interfaces to Enhance Motor Imagery Classification. SENSORS (BASEL, SWITZERLAND) 2025; 25:443. [PMID: 39860813 PMCID: PMC11769250 DOI: 10.3390/s25020443] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 10/24/2024] [Revised: 01/02/2025] [Accepted: 01/07/2025] [Indexed: 01/27/2025]
Abstract
Enhancing motor disability assessment and its imagery classification is a significant concern in contemporary medical practice, necessitating reliable solutions to improve patient outcomes. One promising avenue is the use of brain-computer interfaces (BCIs), which establish a direct communication pathway between users and machines. This technology holds the potential to revolutionize human-machine interaction, especially for individuals diagnosed with motor disabilities. Despite this promise, extracting reliable control signals from noisy brain data remains a critical challenge. In this paper, we introduce a novel approach leveraging the collaborative synergy of five convolutional neural network (CNN) models to improve the classification accuracy of motor imagery tasks, which are essential components of BCI systems. Our method demonstrates exceptional performance, achieving an accuracy of 79.44% on the BCI Competition IV 2a dataset, surpassing existing state-of-the-art techniques in using multiple CNN models. This advancement offers significant promise for enhancing the efficacy and versatility of BCIs in a wide range of real-world applications, from assistive technologies to neurorehabilitation, thereby providing robust solutions for individuals with motor disabilities.
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Affiliation(s)
- Souheyl Mallat
- Department of Computer Science, Faculty of Sciences, Monastir University, Monastir 5019, Tunisia;
| | - Emna Hkiri
- Department of Computer Science, Higher Institute of Computer Science, Kairouan University, Kairouan 3100, Tunisia;
| | - Abdullah M. Albarrak
- Department of Computer Science, College of Computer and Information Sciences, Imam Mohammad Ibn Saud Islamic University, Riyadh 11432, Saudi Arabia
| | - Borhen Louhichi
- Department of Mechanical Engineering, College of Engineering, Imam Mohammad Ibn Saud Islamic University, Riyadh 11432, Saudi Arabia;
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2
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de Melo GC, Castellano G, Forner-Cordero A. Identification and analysis of reference-independent movement event-related desynchronization. Biomed Phys Eng Express 2025; 11:025001. [PMID: 39705724 DOI: 10.1088/2057-1976/ada1dc] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/09/2024] [Accepted: 12/20/2024] [Indexed: 12/22/2024]
Abstract
Characterization of the electroencephalography (EEG) signals related to motor activity, such as alpha- and beta-band motor event-related desynchronizations (ERDs), is essential for Brain Computer Interface (BCI) development. Determining the best electrode combination to detect the ERD is crucial for the success of the BCI. Considering that the EEG signals are bipolar, this involves the choice of the main and reference electrodes. So far, no strategy to guarantee signals free of the activity from the reference electrode has achieved consensus among the scientific community. Therefore, mapping the ERD in terms of the spatial distribution of the main and reference electrodes can provide additional perspectives for the BCI field. The goal of this work is to identify subject-specific channels where ERD is temporally coupled to the initiation of an upper-limb motor task. We defined a criterion to determine the presence of the ERD linked to the movement onset and searched, separately for each subject, for the single channel with the most prominent ERD. The search was conducted over all available channels composed by a pair of electrodes, and the selected signals were analyzed according to their temporal and spatial characteristics. We found that alpha- and beta-band ERD temporarily linked to movement onset can be detected in atypical channels (pairs of electrodes) across the scalp. The selected channels were different across subjects. Four ERD temporal patterns were observed in terms of the initiation instant of the ERD. These patterns revealed that the M1 cortex seems to be related to later ERDs. Moreover, they were also associated to different cortical processes related to the motor task. To the best of our knowledge, this is the first time these findings are reported. Aiming at BCI development, further experiments with more subjects and with motor-imagery tasks are desirable for more robustness and applicability of these findings.
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Affiliation(s)
- Gabriel Chaves de Melo
- Biomechatronics Laboratory, Department of Mechatronics and Mechanical Systems of the Escola Politécnica, Universidade de São Paulo (USP), São Paulo, SP, Brazil
- Institute of Physics Gleb Wataghin, Universidade Estadual de Campinas (UNICAMP), Campinas, SP, Brazil
- Brazilian Institute of Neuroscience and Neurotechnology (BRAINN), Campinas, SP, Brazil
| | - Gabriela Castellano
- Institute of Physics Gleb Wataghin, Universidade Estadual de Campinas (UNICAMP), Campinas, SP, Brazil
- Brazilian Institute of Neuroscience and Neurotechnology (BRAINN), Campinas, SP, Brazil
| | - Arturo Forner-Cordero
- Biomechatronics Laboratory, Department of Mechatronics and Mechanical Systems of the Escola Politécnica, Universidade de São Paulo (USP), São Paulo, SP, Brazil
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吴 雪, 褚 亚, 赵 新, 赵 忆. [Three-dimensional convolutional neural network based on spatial-spectral feature pictures learning for decoding motor imagery electroencephalography signal]. SHENG WU YI XUE GONG CHENG XUE ZA ZHI = JOURNAL OF BIOMEDICAL ENGINEERING = SHENGWU YIXUE GONGCHENGXUE ZAZHI 2024; 41:1145-1152. [PMID: 40000203 PMCID: PMC11955375 DOI: 10.7507/1001-5515.202407038] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Subscribe] [Scholar Register] [Received: 07/11/2024] [Revised: 11/06/2024] [Indexed: 02/27/2025]
Abstract
The brain-computer interface (BCI) based on motor imagery electroencephalography (EEG) shows great potential in neurorehabilitation due to its non-invasive nature and ease of use. However, motor imagery EEG signals have low signal-to-noise ratios and spatiotemporal resolutions, leading to low decoding recognition rates with traditional neural networks. To address this, this paper proposed a three-dimensional (3D) convolutional neural network (CNN) method that learns spatial-frequency feature maps, using Welch method to calculate the power spectrum of EEG frequency bands, converted time-series EEG into a brain topographical map with spatial-frequency information. A 3D network with one-dimensional and two-dimensional convolutional layers was designed to effectively learn these features. Comparative experiments demonstrated that the average decoding recognition rate reached 86.89%, outperforming traditional methods and validating the effectiveness of this approach in motor imagery EEG decoding.
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Affiliation(s)
- 雪健 吴
- 中国科学院沈阳自动化研究所 机器人学国家重点实验室(沈阳 110016)State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, P. R. China
- 中国科学院大学(北京 100049)University of Chinese Academy of Sciences (UCAS), Beijing 100049, P. R. China
| | - 亚奇 褚
- 中国科学院沈阳自动化研究所 机器人学国家重点实验室(沈阳 110016)State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, P. R. China
- 中国科学院大学(北京 100049)University of Chinese Academy of Sciences (UCAS), Beijing 100049, P. R. China
| | - 新刚 赵
- 中国科学院沈阳自动化研究所 机器人学国家重点实验室(沈阳 110016)State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, P. R. China
- 中国科学院大学(北京 100049)University of Chinese Academy of Sciences (UCAS), Beijing 100049, P. R. China
| | - 忆文 赵
- 中国科学院沈阳自动化研究所 机器人学国家重点实验室(沈阳 110016)State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, P. R. China
- 中国科学院大学(北京 100049)University of Chinese Academy of Sciences (UCAS), Beijing 100049, P. R. China
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Li X, Chu Y, Wu X. 3D convolutional neural network based on spatial-spectral feature pictures learning for decoding motor imagery EEG signal. Front Neurorobot 2024; 18:1485640. [PMID: 39720668 PMCID: PMC11667157 DOI: 10.3389/fnbot.2024.1485640] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/24/2024] [Accepted: 11/25/2024] [Indexed: 12/26/2024] Open
Abstract
Non-invasive brain-computer interfaces (BCI) hold great promise in the field of neurorehabilitation. They are easy to use and do not require surgery, particularly in the area of motor imagery electroencephalography (EEG). However, motor imagery EEG signals often have a low signal-to-noise ratio and limited spatial and temporal resolution. Traditional deep neural networks typically only focus on the spatial and temporal features of EEG, resulting in relatively low decoding and accuracy rates for motor imagery tasks. To address these challenges, this paper proposes a 3D Convolutional Neural Network (P-3DCNN) decoding method that jointly learns spatial-frequency feature maps from the frequency and spatial domains of the EEG signals. First, the Welch method is used to calculate the frequency band power spectrum of the EEG, and a 2D matrix representing the spatial topology distribution of the electrodes is constructed. These spatial-frequency representations are then generated through cubic interpolation of the temporal EEG data. Next, the paper designs a 3DCNN network with 1D and 2D convolutional layers in series to optimize the convolutional kernel parameters and effectively learn the spatial-frequency features of the EEG. Batch normalization and dropout are also applied to improve the training speed and classification performance of the network. Finally, through experiments, the proposed method is compared to various classic machine learning and deep learning techniques. The results show an average decoding accuracy rate of 86.69%, surpassing other advanced networks. This demonstrates the effectiveness of our approach in decoding motor imagery EEG and offers valuable insights for the development of BCI.
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Affiliation(s)
- Xiaoguang Li
- Huzhou Key Laboratory of Green Energy Materials and Battery Cascade Utilization, School of Intelligent Manufacturing, Huzhou College, Huzhou, China
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
| | - Yaqi Chu
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
| | - Xuejian Wu
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
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Xue Q, Song Y, Wu H, Cheng Y, Pan H. Graph neural network based on brain inspired forward-forward mechanism for motor imagery classification in brain-computer interfaces. Front Neurosci 2024; 18:1309594. [PMID: 38606308 PMCID: PMC11008472 DOI: 10.3389/fnins.2024.1309594] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/08/2023] [Accepted: 03/04/2024] [Indexed: 04/13/2024] Open
Abstract
Introduction Within the development of brain-computer interface (BCI) systems, it is crucial to consider the impact of brain network dynamics and neural signal transmission mechanisms on electroencephalogram-based motor imagery (MI-EEG) tasks. However, conventional deep learning (DL) methods cannot reflect the topological relationship among electrodes, thereby hindering the effective decoding of brain activity. Methods Inspired by the concept of brain neuronal forward-forward (F-F) mechanism, a novel DL framework based on Graph Neural Network combined forward-forward mechanism (F-FGCN) is presented. F-FGCN framework aims to enhance EEG signal decoding performance by applying functional topological relationships and signal propagation mechanism. The fusion process involves converting the multi-channel EEG into a sequence of signals and constructing a network grounded on the Pearson correlation coeffcient, effectively representing the associations between channels. Our model initially pre-trains the Graph Convolutional Network (GCN), and fine-tunes the output layer to obtain the feature vector. Moreover, the F-F model is used for advanced feature extraction and classification. Results and discussion Achievement of F-FGCN is assessed on the PhysioNet dataset for a four-class categorization, compared with various classical and state-of-the-art models. The learned features of the F-FGCN substantially amplify the performance of downstream classifiers, achieving the highest accuracy of 96.11% and 82.37% at the subject and group levels, respectively. Experimental results affirm the potency of FFGCN in enhancing EEG decoding performance, thus paving the way for BCI applications.
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Affiliation(s)
- Qiwei Xue
- Institute of Plasma Physics, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei, China
- University of Science and Technology of China, Hefei, China
- Mechanical Department, School of Energy Systems, Lappeenranta University of Technology (LUT), Lappeenranta, Finland
| | - Yuntao Song
- Institute of Plasma Physics, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei, China
- University of Science and Technology of China, Hefei, China
| | - Huapeng Wu
- Mechanical Department, School of Energy Systems, Lappeenranta University of Technology (LUT), Lappeenranta, Finland
| | - Yong Cheng
- Institute of Plasma Physics, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei, China
| | - Hongtao Pan
- Institute of Plasma Physics, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei, China
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Yu S, Wang Z, Wang F, Chen K, Yao D, Xu P, Zhang Y, Wang H, Zhang T. Multiclass classification of motor imagery tasks based on multi-branch convolutional neural network and temporal convolutional network model. Cereb Cortex 2024; 34:bhad511. [PMID: 38183186 DOI: 10.1093/cercor/bhad511] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/05/2023] [Revised: 12/06/2023] [Accepted: 12/08/2023] [Indexed: 01/07/2024] Open
Abstract
Motor imagery (MI) is a cognitive process wherein an individual mentally rehearses a specific movement without physically executing it. Recently, MI-based brain-computer interface (BCI) has attracted widespread attention. However, accurate decoding of MI and understanding of neural mechanisms still face huge challenges. These seriously hinder the clinical application and development of BCI systems based on MI. Thus, it is very necessary to develop new methods to decode MI tasks. In this work, we propose a multi-branch convolutional neural network (MBCNN) with a temporal convolutional network (TCN), an end-to-end deep learning framework to decode multi-class MI tasks. We first used MBCNN to capture the MI electroencephalography signals information on temporal and spectral domains through different convolutional kernels. Then, we introduce TCN to extract more discriminative features. The within-subject cross-session strategy is used to validate the classification performance on the dataset of BCI Competition IV-2a. The results showed that we achieved 75.08% average accuracy for 4-class MI task classification, outperforming several state-of-the-art approaches. The proposed MBCNN-TCN-Net framework successfully captures discriminative features and decodes MI tasks effectively, improving the performance of MI-BCIs. Our findings could provide significant potential for improving the clinical application and development of MI-based BCI systems.
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Affiliation(s)
- Shiqi Yu
- Microecology Research Center, Baiyun Branch, Nanfang Hospital, Southern Medical University, Guangzhou 510515, China
- Mental Health Education Center and School of Science, Xihua University, Chengdu 610039, China
| | - Zedong Wang
- Microecology Research Center, Baiyun Branch, Nanfang Hospital, Southern Medical University, Guangzhou 510515, China
| | - Fei Wang
- School of Computer and Software, Chengdu Jincheng College, Chengdu 610097, China
| | - Kai Chen
- Mental Health Education Center and School of Science, Xihua University, Chengdu 610039, China
| | - Dezhong Yao
- Key Laboratory for Neuroinformation of Ministry of Education, School of Life Science and Technology, University of Electronic Science and Technology of China, Chengdu 611731, China
| | - Peng Xu
- Key Laboratory for Neuroinformation of Ministry of Education, School of Life Science and Technology, University of Electronic Science and Technology of China, Chengdu 611731, China
| | - Yong Zhang
- Microecology Research Center, Baiyun Branch, Nanfang Hospital, Southern Medical University, Guangzhou 510515, China
| | - Hesong Wang
- Microecology Research Center, Baiyun Branch, Nanfang Hospital, Southern Medical University, Guangzhou 510515, China
| | - Tao Zhang
- Microecology Research Center, Baiyun Branch, Nanfang Hospital, Southern Medical University, Guangzhou 510515, China
- Mental Health Education Center and School of Science, Xihua University, Chengdu 610039, China
- Key Laboratory for Neuroinformation of Ministry of Education, School of Life Science and Technology, University of Electronic Science and Technology of China, Chengdu 611731, China
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Mokienko O, Lyukmanov R, Bobrov P, Suponeva N, Piradov M. Brain-Computer Interfaces for Upper Limb Motor Recovery after Stroke: Current Status and Development Prospects (Review). Sovrem Tekhnologii Med 2023; 15:63-73. [PMID: 39944367 PMCID: PMC11811833 DOI: 10.17691/stm2023.15.6.07] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/31/2023] [Indexed: 04/30/2025] Open
Abstract
Brain-computer interfaces (BCIs) are a group of technologies that allow mental training with feedback for post-stroke motor recovery. Varieties of these technologies have been studied in numerous clinical trials for more than 10 years, and their construct and software are constantly being improved. Despite the positive treatment results and the availability of registered medical devices, there are currently a number of problems for the wide clinical application of BCI technologies. This review provides information on the most studied types of BCIs and its training protocols and describes the evidence base for the effectiveness of BCIs for upper limb motor recovery after stroke. The main problems of scaling this technology and ways to solve them are also described.
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Affiliation(s)
- O.A. Mokienko
- MD, PhD, Researcher, Brain–Computer Interface Group of Institute for Neurorehabilitation and Restorative Technologies; Research Center of Neurology, 80 Volokolamskoe Shosse, Moscow, 125367, Russia; Senior Researcher, Mathematical Neurobiology of Learning Laboratory; Institute of Higher Nervous Activity and Neurophysiology of Russian Academy of Sciences, 5A Butlerova St., Moscow, 117485, Russia
| | - R.Kh. Lyukmanov
- MD, PhD, Head of the Brain–Computer Interface Group of Institute for Neurorehabilitation and Restorative Technologies; Research Center of Neurology, 80 Volokolamskoe Shosse, Moscow, 125367, Russia
| | - P.D. Bobrov
- PhD, Head of the Mathematical Neurobiology of Learning Laboratory; Institute of Higher Nervous Activity and Neurophysiology of Russian Academy of Sciences, 5A Butlerova St., Moscow, 117485, Russia
| | - N.A. Suponeva
- MD, DSc, Corresponding Member of Russian Academy of Sciences, Director of Institute for Neurorehabilitation and Restorative Technologies; Research Center of Neurology, 80 Volokolamskoe Shosse, Moscow, 125367, Russia
| | - M.A. Piradov
- MD, DSc, Professor, Academician of Russian Academy of Sciences, Director; Research Center of Neurology, 80 Volokolamskoe Shosse, Moscow, 125367, Russia
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Bi J, Chu M, Wang G, Gao X. TSPNet: a time-spatial parallel network for classification of EEG-based multiclass upper limb motor imagery BCI. Front Neurosci 2023; 17:1303242. [PMID: 38161801 PMCID: PMC10754979 DOI: 10.3389/fnins.2023.1303242] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/27/2023] [Accepted: 11/28/2023] [Indexed: 01/03/2024] Open
Abstract
The classification of electroencephalogram (EEG) motor imagery signals has emerged as a prominent research focus within the realm of brain-computer interfaces. Nevertheless, the conventional, limited categories (typically just two or four) offered by brain-computer interfaces fail to provide an extensive array of control modes. To address this challenge, we propose the Time-Spatial Parallel Network (TSPNet) for recognizing six distinct categories of upper limb motor imagery. Within TSPNet, temporal and spatial features are extracted separately, with the time dimension feature extractor and spatial dimension feature extractor performing their respective functions. Following this, the Time-Spatial Parallel Feature Extractor is employed to decouple the connection between temporal and spatial features, thus diminishing feature redundancy. The Time-Spatial Parallel Feature Extractor deploys a gating mechanism to optimize weight distribution and parallelize time-spatial features. Additionally, we introduce a feature visualization algorithm based on signal occlusion frequency to facilitate a qualitative analysis of TSPNet. In a six-category scenario, TSPNet achieved an accuracy of 49.1% ± 0.043 on our dataset and 49.7% ± 0.029 on a public dataset. Experimental results conclusively establish that TSPNet outperforms other deep learning methods in classifying data from these two datasets. Moreover, visualization results vividly illustrate that our proposed framework can generate distinctive classifier patterns for multiple categories of upper limb motor imagery, discerned through signals of varying frequencies. These findings underscore that, in comparison to other deep learning methods, TSPNet excels in intention recognition, which bears immense significance for non-invasive brain-computer interfaces.
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Affiliation(s)
- Jingfeng Bi
- School of Automation, Beijing University of Posts and Telecommunications, Beijing, China
| | - Ming Chu
- School of Automation, Beijing University of Posts and Telecommunications, Beijing, China
| | - Gang Wang
- School of Automation, Beijing University of Posts and Telecommunications, Beijing, China
| | - Xiaoshan Gao
- School of Automation Science and Electrical Engineering, Beihang University, Beijing, China
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Guerrero-Mendez CD, Blanco-Diaz CF, Rivera-Flor H, De Souza AF, Jaramillo-Isaza S, Ruiz-Olaya AF, Bastos-Filho TF. Coupling Effects of Cross-Corticomuscular Association during Object Manipulation Tasks on Different Haptic Sensations. NEUROSCI 2023; 4:195-210. [PMID: 39483199 PMCID: PMC11523752 DOI: 10.3390/neurosci4030018] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/25/2023] [Revised: 08/03/2023] [Accepted: 08/11/2023] [Indexed: 11/03/2024] Open
Abstract
The effects of corticomuscular connectivity during object manipulation tasks with different haptic sensations have not been quantitatively investigated. Connectivity analyses enable the study of cortical effects and muscle responses during movements, revealing communication pathways between the brain and muscles. This study aims to examine the corticomuscular connectivity of three Electroencephalography (EEG) channels and five muscles during object manipulation tasks involving contact surfaces of Sandpaper, Suede, and Silk. The analyses included 12 healthy subjects performing tasks with their right hand. Power-Based Connectivity (PBC) and Mutual Information (MI) measures were utilized to evaluate significant differences in connectivity between contact surfaces, EEG channels, muscles, and frequency bands. The research yielded the following findings: Suede contact surface exhibited higher connectivity; Mu and Gamma frequency bands exerted greater influence; significant connectivity was observed between the three EEG channels (C 3 ,C z ,C 4 ) and the Anterior Deltoid (AD) and Brachioradialis (B) muscles; and connectivity was primarily involved during active movement in the AD muscle compared to the resting state. These findings suggest potential implementation in motor rehabilitation for more complex movements using novel alternative training systems with high effectiveness.
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Affiliation(s)
- Cristian D Guerrero-Mendez
- Postgraduate Program in Electrical Engineering, Federal University of Espirito Santo (UFES), Vitória 29075-910, Brazil; (C.F.B.-D.); (H.R.-F.); (T.F.B.-F.)
| | - Cristian F Blanco-Diaz
- Postgraduate Program in Electrical Engineering, Federal University of Espirito Santo (UFES), Vitória 29075-910, Brazil; (C.F.B.-D.); (H.R.-F.); (T.F.B.-F.)
| | - Hamilton Rivera-Flor
- Postgraduate Program in Electrical Engineering, Federal University of Espirito Santo (UFES), Vitória 29075-910, Brazil; (C.F.B.-D.); (H.R.-F.); (T.F.B.-F.)
| | - Alberto F De Souza
- Department of Informatics, Federal University of Espírito Santo (UFES), Vitória 29075-910, Brazil;
| | | | - Andres F Ruiz-Olaya
- Faculty of Mechanical, Electronic and Biomedical Engineering, Antonio Nariño University (UAN), Bogotá 110231, Colombia;
| | - Teodiano F Bastos-Filho
- Postgraduate Program in Electrical Engineering, Federal University of Espirito Santo (UFES), Vitória 29075-910, Brazil; (C.F.B.-D.); (H.R.-F.); (T.F.B.-F.)
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