Brain-computer Interface Control Research Articles

Evaluating the real-world usability of BCI control systems with augmented reality: a user study protocol

Brain-computer interfaces (BCI) enable users to control devices through their brain activity. Motor imagery (MI), the neural activity resulting from an individual imagining performing a movement, is a common control paradigm. This study introduces a user-centric evaluation protocol for assessing the performance and user experience of an MI-based BCI control system utilizing augmented reality. Augmented reality is employed to enhance user interaction by displaying environment-aware actions, and guiding users on the necessary imagined movements for specific device commands. One of the major gaps in existing research is the lack of comprehensive evaluation methodologies, particularly in real-world conditions. To address this gap, our protocol combines quantitative and qualitative assessments across three phases. In the initial phase, the BCI prototype's technical robustness is validated. Subsequently, the second phase involves a performance assessment of the control system. The third phase introduces a comparative analysis between the prototype and an alternative approach, incorporating detailed user experience evaluations through questionnaires and comparisons with non-BCI control methods. Participants engage in various tasks, such as object sorting, picking and placing, and playing a board game using the BCI control system. The evaluation procedure is designed for versatility, intending applicability beyond the specific use case presented. Its adaptability enables easy customization to meet the specific user requirements of the investigated BCI control application. This user-centric evaluation protocol offers a comprehensive framework for iterative improvements to the BCI prototype, ensuring technical validation, performance assessment, and user experience evaluation in a systematic and user-focused manner.

A Comprehensive Review on Brain–Computer Interface (BCI)-Based Machine and Deep Learning Algorithms for Stroke Rehabilitation

This literature review explores the pivotal role of brain–computer interface (BCI) technology, coupled with electroencephalogram (EEG) technology, in advancing rehabilitation for individuals with damaged muscles and motor systems. This study provides a comprehensive overview of recent developments in BCI and motor control for rehabilitation, emphasizing the integration of user-friendly technological support and robotic prosthetics powered by brain activity. This review critically examines the latest strides in BCI technology and its application in motor skill recovery. Special attention is given to prevalent EEG devices adaptable for BCI-driven rehabilitation. The study surveys significant contributions in the realm of machine learning-based and deep learning-based rehabilitation evaluation. The integration of BCI with EEG technology demonstrates promising outcomes for enhancing motor skills in rehabilitation. The study identifies key EEG devices suitable for BCI applications, discusses advancements in machine learning approaches for rehabilitation assessment, and highlights the emergence of novel robotic prosthetics powered by brain activity. Furthermore, it showcases successful case studies illustrating the practical implementation of BCI-driven rehabilitation techniques and their positive impact on diverse patient populations. This review serves as a cornerstone for informed decision-making in the field of BCI technology for rehabilitation. The results highlight BCI’s diverse advantages, enhancing motor control and robotic integration. The findings highlight the potential of BCI in reshaping rehabilitation practices and offer insights and recommendations for future research directions. This study contributes significantly to the ongoing transformation of BCI technology, particularly through the utilization of EEG equipment, providing a roadmap for researchers in this dynamic domain.

Intentional binding for noninvasive BCI control.

Noninvasive brain-computer interfaces (BCIs) allow to interact with the external environment by naturally bypassing the musculoskeletal system.
Making BCIs efficient and accurate is paramount to improve the reliability of real-life and clinical applications, from open-loop device control to closed-loop neurorehabilitation. By promoting sense of agency and embodiment, realistic setups including multimodal channels of communication, such as eye-gaze, and robotic prostheses aim to improve BCI performance. However, how the mental imagery command should be integrated in those hybrid systems so as to ensure the best interaction is still poorly understood.
To address this question, we performed a hybrid EEG-based BCI training involving healthy volunteers enrolled in a reach-and-grasp action operated by a robotic arm. Main results showed that the hand grasping motor imagery timing significantly affects the BCI accuracy evolution as well as the spatiotemporal brain dynamics. Larger accuracy improvement was obtained when motor imagery is performed just after the robot reaching, as compared to before or during the movement. The proximity with the subsequent robot grasping favored intentional binding, led to stronger motor-related brain activity, and primed the ability of sensorimotor areas to integrate information from regions implicated in higher-order cognitive functions.
Taken together, these findings provided fresh evidence about the effects of intentional binding on human behavior and cortical network dynamics that can be exploited to design a new generation of efficient brain-machine interfaces.

EEG-based motor imagery channel selection and classification using hybrid optimization and two-tier deep learning

Brain-computer interface (BCI) technology holds promise for individuals with profound motor impairments, offering the potential for communication and control. Motor imagery (MI)-based BCI systems are particularly relevant in this context. Despite their potential, achieving accurate and robust classification of MI tasks using electroencephalography (EEG) data remains a significant challenge. In this paper, we employed the Minimum Redundancy Maximum Relevance (MRMR) algorithm to optimize channel selection. Furthermore, we introduced a hybrid optimization approach that combines the War Strategy Optimization (WSO) and Chimp Optimization Algorithm (ChOA). This hybridization significantly enhances the classification model’s overall performance and adaptability. A two-tier deep learning architecture is proposed for classification, consisting of a Convolutional Neural Network (CNN) and a modified Deep Neural Network (M-DNN). The CNN focuses on capturing temporal correlations within EEG data, while the M-DNN is designed to extract high-level spatial characteristics from selected EEG channels. Integrating optimal channel selection, hybrid optimization, and the two-tier deep learning methodology in our BCI framework presents an enhanced approach for precise and effective BCI control. Our model got 95.06% accuracy with high precision. This advancement has the potential to significantly impact neurorehabilitation and assistive technology applications, facilitating improved communication and control for individuals with motor impairments

Playing Tetris with Your Mind: A BCI-Controlled Gaming Experience

Brain-Computer Interface Controlled Tetris: Exploring Feasibility and User Experience. This project explores the feasibility and user experience of controlling a Tetris game using a Brain-Computer Interface (BCI). The BCI system utilizes non-invasive Electroencephalography (EEG) to detect P300 brainwaves generated by user focus on specific on-screen cues corresponding to desired game actions (left, right, rotate, drop).An ESP8266 microcontroller board, EEG sensor, and display are used to create a portable BCI system. Software development leverages open-source libraries for EEG signal processing, classification, and game engine control (onboard or external).The experiment evaluates BCI control performance through metrics like accuracy, speed, and Tetris completion rate. A control group playing traditional Tetris (if applicable) allows for comparison. Subjective user experience is assessed through questionnaires and surveys. The results are expected to demonstrate the feasibility of BCI- controlled Tetris using affordable hardware. Potential trade-offs between BCI control speed and traditional methods will be explored. User experience analysis will provide insights into the challenge, enjoyment, and future directions of BCI gaming. This project contributes to the growing field of BCI applications by demonstrating its potential for novel and mind-controlled gaming experiences. Keywords: Brain-Computer Interface, Electroencephalography, performance.

Development of real-time brain-computer interface control system for robot

Electroencephalogram (EEG)-based brain-computer interfaces (BCI) have been considered a prevailing non-invasive method for collecting human biomedical signals by attaching electrodes to the scalp. However, it is difficult to detect and use these signals to control an online BCI robot in a real environment owing to environmental noise. In this study, a novel state recognition model is proposed to determine and improve EEG signal states. First, a Long Short-Term Memory Convolutional Neural Network (LSTM-CNN) was designed to extract EEG features along the time sequence. During this process, errors caused by the randomness of the mind or external environmental factors may be generated. Thus, an actor-critic based decision-making model was proposed to correct these errors. The model consists of two networks that can be used to predict the final signal state based on both the current signal state probability and past signal state probabilities. Subsequently, a hybrid BCI real-time control system application is proposed to control a BCI robot. The Unicorn Hybrid Black EEG device was used to acquire brain signals. A data transmission system was constructed using OpenViBE to transfer data. An EEG classification system was built to classify the BCI commands. In this experiment, EEG data from five subjects were collected to train and test the performance and reliability of the proposed control system. The system records the time spent by the robot and the moving distance. Experimental results were provided to demonstrate the feasibility of the real-time control system. Compared to similar BCI studies, the proposed hybrid BCI real-time control system can accurately classify seven BCI commands in a more reliable and precise manner. Overall, the offline testing accuracy was 87.20%. When we apply the proposed system to control a BCI robot in a real environment, the average online control accuracy is 93.12%, and the mean information transmission rate is 67.07 bits/min, which is better than those of some state-of-the-art control systems. This shows that the proposed hybrid BCI real-time control system demonstrated higher reliability, which can be used in practical BCI control applications.

Design of Brain Computer Interface Control System Based on Neural Network

Design of Brain Computer Interface Control System Based on Neural Network

Enhancing Neurorehabilitation through Closed-Loop Control of Robotic Exoskeletons and Brain-Computer Interfaces

Neurorehabilitation is an important part of getting better for people who have nerve illnesses or accidents. Brain-computer interfaces (BCIs) and robotic exoskeletons have shown promise in better recovery results by allowing focused therapy and making neurons more flexible. This paper gives an outline of the current study on closed-loop control systems that combine robotic exoskeletons and brain-computer interfaces (BCIs) for neurorehabilitation. It also talks about the pros and cons of these systems. Closed-loop control systems try to make two-way communication possible between the user's brain activity (measured by BCIs) and the robotic suit. This way, treatments can be changed in real time based on the user's neurological signs. This method makes it possible for more personalized and flexible therapy plans, which can help people recover their movement skills and become more useful. When BCIs are combined with artificial exoskeletons, they offer many benefits, such as exact control over movement parameters, increased involvement and motivation through immersive feedback, and the chance to induce learning by coordinating brain activity and physical output. To make these systems work better, though, problems like signal processing delay, calibration issues, and the need for user training must be fixed. Recent research has shown that closed-loop control systems can be used and might be helpful in a number of neurorehabilitation situations, such as helping people who have had a stroke or spinal cord injury get their movement skills back and helping people with neurological conditions regain their independence. In the future, researchers should work on improving these systems' algorithms and hardware, running large-scale clinical studies to show that they work, and finding new ways to improve neurorehabilitation results by combining modern technology.

A toolbox for decoding BCI commands based on event-related potentials.

Commands in brain-computer interface (BCI) applications often rely on the decoding of event-related potentials (ERP). For instance, the P300 potential is frequently used as a marker of attention to an oddball event. Error-related potentials and the N2pc signal are further examples of ERPs used for BCI control. One challenge in decoding brain activity from the electroencephalogram (EEG) is the selection of the most suitable channels and appropriate features for a particular classification approach. Here we introduce a toolbox that enables ERP-based decoding using the full set of channels, while automatically extracting informative components from relevant channels. The strength of our approach is that it handles sequences of stimuli that encode multiple items using binary classification, such as target vs. nontarget events typically used in ERP-based spellers. We demonstrate examples of application scenarios and evaluate the performance of four openly available datasets: a P300-based matrix speller, a P300-based rapid serial visual presentation (RSVP) speller, a binary BCI based on the N2pc, and a dataset capturing error potentials. We show that our approach achieves performances comparable to those in the original papers, with the advantage that only conventional preprocessing is required by the user, while channel weighting and decoding algorithms are internally performed. Thus, we provide a tool to reliably decode ERPs for BCI use with minimal programming requirements.

Automatic control of reactive brain computer interfaces

This article discusses theoretical and practical aspects of real-time brain computer interface control methods based on Bayesian statistics. The theoretical aspects include how the data from the brain computer interface can be translated into a Gaussian mixture model that is used in the Bayesian statistics-based control methods. The practical aspects include how the control methods improve the performance of the brain computer interface. We use a reactive brain computer interface based on a visual oddball paradigm for the investigation and improvement of the performance of automatic control and feedback algorithms used in the system. By using automatic control for selection of the stimuli for the visual oddball experiment, the target stimulus is identified faster than if no automatic control is used. Finally, we introduce transfer learning using Gaussian mixture models, enabling a ready-to-use setup.

Adaptive LDA Classifier Enhances Real-Time Control of an EEG Brain-Computer Interface for Decoding Imagined Syllables.

Brain-Computer Interfaces (BCIs) aim to establish a pathway between the brain and an external device without the involvement of the motor system, relying exclusively on neural signals. Such systems have the potential to provide a means of communication for patients who have lost the ability to speak due to a neurological disorder. Traditional methodologies for decoding imagined speech directly from brain signals often deploy static classifiers, that is, decoders that are computed once at the beginning of the experiment and remain unchanged throughout the BCI use. However, this approach might be inadequate to effectively handle the non-stationary nature of electroencephalography (EEG) signals and the learning that accompanies BCI use, as parameters are expected to change, and all the more in a real-time setting. To address this limitation, we developed an adaptive classifier that updates its parameters based on the incoming data in real time. We first identified optimal parameters (the update coefficient, UC) to be used in an adaptive Linear Discriminant Analysis (LDA) classifier, using a previously recorded EEG dataset, acquired while healthy participants controlled a binary BCI based on imagined syllable decoding. We subsequently tested the effectiveness of this optimization in a real-time BCI control setting. Twenty healthy participants performed two BCI control sessions based on the imagery of two syllables, using a static LDA and an adaptive LDA classifier, in randomized order. As hypothesized, the adaptive classifier led to better performances than the static one in this real-time BCI control task. Furthermore, the optimal parameters for the adaptive classifier were closely aligned in both datasets, acquired using the same syllable imagery task. These findings highlight the effectiveness and reliability of adaptive LDA classifiers for real-time imagined speech decoding. Such an improvement can shorten the training time and favor the development of multi-class BCIs, representing a clear interest for non-invasive systems notably characterized by low decoding accuracies.

Transfer learning promotes acquisition of individual BCI skills.

Subject training is crucial for acquiring brain-computer interface (BCI) control. Typically, this requires collecting user-specific calibration data due to high inter-subject neural variability that limits the usability of generic decoders. However, calibration is cumbersome and may produce inadequate data for building decoders, especially with naïve subjects. Here, we show that a decoder trained on the data of a single expert is readily transferrable to inexperienced users via domain adaptation techniques allowing calibration-free BCI training. We introduce two real-time frameworks, (i) Generic Recentering (GR) through unsupervised adaptation and (ii) Personally Assisted Recentering (PAR) that extends GR by employing supervised recalibration of the decoder parameters. We evaluated our frameworks on 18 healthy naïve subjects over five online sessions, who operated a customary synchronous bar task with continuous feedback and a more challenging car racing game with asynchronous control and discrete feedback. We show that along with improved task-oriented BCI performance in both tasks, our frameworks promoted subjects' ability to acquire individual BCI skills, as the initial neurophysiological control features of an expert subject evolved and became subject specific. Furthermore, those features were task-specific and were learned in parallel as participants practiced the two tasks in every session. Contrary to previous findings implying that supervised methods lead to improved online BCI control, we observed that longitudinal training coupled with unsupervised domain matching (GR) achieved similar performance to supervised recalibration (PAR). Therefore, our presented frameworks facilitate calibration-free BCIs and have immediate implications for broader populations-such as patients with neurological pathologies-who might struggle to provide suitable initial calibration data.

The challenge of controlling an auditory BCI in the case of severe motor disability

BackgroundThe locked-in syndrome (LIS), due to a lesion in the pons, impedes communication. This situation can also be met after some severe brain injury or in advanced Amyotrophic Lateral Sclerosis (ALS). In the most severe condition, the persons cannot communicate at all because of a complete oculomotor paralysis (Complete LIS or CLIS). This even prevents the detection of consciousness. Some studies suggest that auditory brain–computer interface (BCI) could restore a communication through a « yes–no» code.MethodsWe developed an auditory EEG-based interface which makes use of voluntary modulations of attention, to restore a yes–no communication code in non-responding persons. This binary BCI uses repeated speech sounds (alternating “yes” on the right ear and “no” on the left ear) corresponding to either frequent (short) or rare (long) stimuli. Users are instructed to pay attention to the relevant stimuli only. We tested this BCI with 18 healthy subjects, and 7 people with severe motor disability (3 “classical” persons with locked-in syndrome and 4 persons with ALS).ResultsWe report online BCI performance and offline event-related potential analysis. On average in healthy subjects, online BCI accuracy reached 86% based on 50 questions. Only one out of 18 subjects could not perform above chance level. Ten subjects had an accuracy above 90%. However, most patients could not produce online performance above chance level, except for two people with ALS who obtained 100% accuracy. We report individual event-related potentials and their modulation by attention. In addition to the classical P3b, we observed a signature of sustained attention on responses to frequent sounds, but in healthy subjects and patients with good BCI control only.ConclusionsAuditory BCI can be very well controlled by healthy subjects, but it is not a guarantee that it can be readily used by the target population of persons in LIS or CLIS. A conclusion that is supported by a few previous findings in BCI and should now trigger research to assess the reasons of such a gap in order to propose new and efficient solutions.Clinical trial registrations: No. NCT02567201 (2015) and NCT03233282 (2013).

Brain–Computer Interface Using Functional Near-Infrared Spectroscopy for Post-Stroke Motor Rehabilitation: Case Series

Introduction. Non-invasive brain–computer interfaces (BCIs) enable feedback motor imagery [MI] training in neurological patients to support their motor rehabilitation. Nowadays, the use of BCIs based on functional near-infrared spectroscopy (fNIRS) for motor rehabilitation is yet to be investigated.
 Objective: To evaluate the potential fNIRS BCI use in hand MI training for comprehensive post-stroke rehabilitation.
 Materials and methods. This pilot study included clinically stable patients with mild-to-moderate post-stroke hand paresis. In addition to the standard rehabilitation, the patients underwent 10 nine-minute MI fNIRS BCI training sessions. To evaluate the quality of fNIRS BCI control, we assessed the percentage of time during which the classifier accurately detected patient's mental state. We scored the hand function using the Action Research Arm Test (ARAT) and the Fugl-Meyer Assessment (FMA).
 Results. The study included 5 patients at 1 day to 12 months of stroke. All the participants completed the study. All study participants achieved BCI control rates higher than random (41–68%). While three patients demonstrated the clinically significant improvements in their ARAT scores, one of them also showed an improvement in the FMA score. All the participants reported experiencing drowsiness during training.
 Conclusions. Post-stroke patients can operate the fNIRS BCI system under investigation. We suggest adjusting the feedback system, extending the duration of training, and incorporating functional electromyostimulation to enhance training effectiveness.

Integrating Simultaneous Motor Imagery and Spatial Attention for EEG-BCI Control.

EEG-based brain-computer interfaces (BCI) are non-invasive approaches for replacing or restoring motor functions in impaired patients, and direct brain-to-device communication in the general population. Motor imagery (MI) is one of the most used BCI paradigms, but its performance varies across individuals and certain users require substantial training to develop control. In this study, we propose to integrate a MI paradigm simultaneously with a recently proposed Overt Spatial Attention (OSA) paradigm, to accomplish BCI control. We evaluated a cohort of 25 human subjects' ability to control a virtual cursor in one- and two-dimensions over 5 BCI sessions. The subjects used 5 different BCI paradigms: MI alone, OSA alone, MI, and OSA simultaneously towards the same target (MI+OSA), and MI for one axis while OSA controls the other (MI/OSA and OSA/MI). Our results show that MI+OSA reached the highest average online performance in 2D tasks at 49% Percent Valid Correct (PVC), and statistically outperforms both MI alone (42%) and OSA alone (45%). MI+OSA had a similar performance to each subject's best individual method between MI alone and OSA alone (50%) and 9 subjects reached their highest average BCI performance using MI+OSA. Integrating MI and OSA leads to improved performance over both individual methods at the group level and is the best BCI paradigm option for some subjects. This work proposes a new BCI control paradigm that integrates two existing paradigms and demonstrates its value by showing that it can improve users' BCI performance.

Neural Correlate and Movement Decoding of Simultaneous-and-Sequential Bimanual Movements Using EEG Signals.

Bimanual coordination is important for developing a natural motor brain-computer interface (BCI) from electroencephalogram (EEG) signals, covering the aspects of bilateral arm training for rehabilitation, bimanual coordination for daily-life assistance, and also improving the multidimensional control of BCIs. For the same task targets of both hands, simultaneous and sequential bimanual movements are two different bimanual coordination manners. Planning and performing motor sequences are the fundamental abilities of humans, and it is more natural to execute sequential movements compared to simultaneous movements in many complex tasks. However, to date, for these two different manners in which two hands coordinated to reach the same task targets, the differences in the neural correlate and also the feasibility of movement discrimination have not been explored. In this study, we aimed to investigate these two issues based on a bimanual reaching task for the first time. Finally, neural correlates in the view of the movement-related cortical potentials, event-related oscillations, and source imaging showed unique neural encoding patterns of sequential movements. Besides, for the same task targets of both hands, the simultaneous and sequential bimanual movements were successfully discriminated in both pre-movement and movement execution periods. This study revealed the neural encoding patterns of sequential bimanual movements and presented its values in developing a more natural and good-performance motor BCI.

Feasibility of a Wearable Soft Robot Triggered by Brain-Computer Interface for Stroke Upper Extremity Rehabilitation

Abstract Conventional robot designs have been applied as feedback stages in brain-computer interfaces (BCI) for stroke upper limb neurorehabilitation, showing promising results. Soft -robotic devices can be simpler and less expensive to manufacture, and provide ergonomic advantages over traditional designs, allowing to increase the efficacy and availableness of BCI systems for stroke neurorehabilitation. However, patients' degrees of control, neurophysiological activity, and system's usability with a BCI, using a soft robotic device as feedback, have not been assessed in stroke. For these reasons, a BCI system with a soft robotic feedback device was assessed in stroke patients. Fifty trials were acquired to setup the system, and another fifty trials were performed for evaluating patients' BCI control and cortical activity during movement intention (MI) and robotic feedback. User experience with the BCI was also assessed. Classification accuracy was in the range of 71.3% to 97.5%. Significant decrease in alpha power was observed during both motor intention and robotic feedback, but significant decrease in beta power was only observed during motor intention. BCI performance was high and in the range of reported BCI stroke interventions that used traditional robotics as feedback. Power decrease observed predominantly in alpha during soft robotic feedback was likely due to the eliciting of motor-related mechanisms. Quantification of user experience with the BCI implied that the system complexity is adequate for stroke patients. Therefore, a BCI system aimed at stroke neurorehabilitation can incorporate a soft robotic design as feedback and has potential for upper extremity interventions.

Application and Development of EEG Acquisition and Feedback Technology: A Review.

This review focuses on electroencephalogram (EEG) acquisition and feedback technology and its core elements, including the composition and principles of the acquisition devices, a wide range of applications, and commonly used EEG signal classification algorithms. First, we describe the construction of EEG acquisition and feedback devices encompassing EEG electrodes, signal processing, and control and feedback systems, which collaborate to measure faint EEG signals from the scalp, convert them into interpretable data, and accomplish practical applications using control feedback systems. Subsequently, we examine the diverse applications of EEG acquisition and feedback across various domains. In the medical field, EEG signals are employed for epilepsy diagnosis, brain injury monitoring, and sleep disorder research. EEG acquisition has revealed associations between brain functionality, cognition, and emotions, providing essential insights for psychologists and neuroscientists. Brain-computer interface technology utilizes EEG signals for human-computer interaction, driving innovation in the medical, engineering, and rehabilitation domains. Finally, we introduce commonly used EEG signal classification algorithms. These classification tasks can identify different cognitive states, emotional states, brain disorders, and brain-computer interface control and promote further development and application of EEG technology. In conclusion, EEG acquisition technology can deepen the understanding of EEG signals while simultaneously promoting developments across multiple domains, such as medicine, science, and engineering.

Direct speech reconstruction from sensorimotor brain activity with optimized deep learning models.

Objective.Development of brain-computer interface (BCI) technology is key for enabling communication in individuals who have lost the faculty of speech due to severe motor paralysis. A BCI control strategy that is gaining attention employs speech decoding from neural data. Recent studies have shown that a combination of direct neural recordings and advanced computational models can provide promising results. Understanding which decoding strategies deliver best and directly applicable results is crucial for advancing the field.Approach.In this paper, we optimized and validated a decoding approach based on speech reconstruction directly from high-density electrocorticography recordings from sensorimotor cortex during a speech production task.Main results.We show that (1) dedicated machine learning optimization of reconstruction models is key for achieving the best reconstruction performance; (2) individual word decoding in reconstructed speech achieves 92%-100% accuracy (chance level is 8%); (3) direct reconstruction from sensorimotor brain activity produces intelligible speech.Significance.These results underline the need for model optimization in achieving best speech decoding results and highlight the potential that reconstruction-based speech decoding from sensorimotor cortex can offer for development of next-generation BCI technology for communication.

BCI Control of a Robotic arm based on SSVEP with Moving Stimuli for Reach and grasp Tasks.

Brain-computer interface (BCI) provides a novel technology for patients and healthy human subjects to control a robotic arm. Currently, BCI control of a robotic arm to complete the reaching and grasping tasks in an unstructured environment is still challenging because the current BCI technology does not meet the requirement of manipulating a multi-degree robotic arm accurately and robustly. BCI based on steady-state visual evoked potential (SSVEP) could output a high information transfer rate; however, the conventional SSVEP paradigm failed to control a robotic arm to move continuously and accurately because the users have to switch their gaze between the flickering stimuli and the target frequently. This study proposed a novel SSVEP paradigm in which the flickering stimuli were attached to the robotic arm's gripper and moved with it. First, an offline experiment was designed to investigate the effects of moving flickering stimuli on the SSVEP's responses and decoding accuracy. After that, contrast experiments were conducted, and twelve subjects were recruited to participate in a robotic arm control experiment using both the paradigm one (P1, with moving flickering stimuli) and the paradigm two (P2, conventional fixed flickering stimuli) using a block randomization design to balance their sequences. Double blinks were used to trigger the grasping action asynchronously whenever the subjects were confident that the position of the robotic arm's gripper was accurate enough. Experimental results showed that the paradigm P1 with moving flickering stimuli provided a much better control performance than the conventional paradigm P2 in completing a reaching and grasping task in an unstructured environment. Subjects' subjective feedback scored by a NASA-TLX mental workload scale also corroborated the BCI control performance. The results of this study suggest that the proposed control interface based on SSVEP BCI provides a better solution for robotic arm control to complete the accurate reaching and grasping tasks.