Self-paced Brain-computer Interface Research Articles

Improved motor imagery classification using adaptive spatial filters based on particle swarm optimization algorithm.

As a typical self-paced brain-computer interface (BCI) system, the motor imagery (MI) BCI has been widely applied in fields such as robot control, stroke rehabilitation, and assistance for patients with stroke or spinal cord injury. Many studies have focused on the traditional spatial filters obtained through the common spatial pattern (CSP) method. However, the CSP method can only obtain fixed spatial filters for specific input signals. In addition, the CSP method only focuses on the variance difference of two types of electroencephalogram (EEG) signals, so the decoding ability of EEG signals is limited. To make up for these deficiencies, this study introduces a novel spatial filter-solving paradigm named adaptive spatial pattern (ASP), which aims to minimize the energy intra-class matrix and maximize the inter-class matrix of MI-EEG after spatial filtering. The filter bank adaptive and common spatial pattern (FBACSP), our proposed method for MI-EEG decoding, amalgamates ASP spatial filters with CSP features across multiple frequency bands. Through a dual-stage feature selection strategy, it employs the Particle Swarm Optimization algorithm for spatial filter optimization, surpassing traditional CSP approaches in MI classification. To streamline feature sets and enhance recognition efficiency, it first prunes CSP features in each frequency band using mutual information, followed by merging these with ASP features. Comparative experiments are conducted on two public datasets (2a and 2b) from BCI competition IV, which show the outstanding average recognition accuracy of FBACSP. The classification accuracy of the proposed method has reached 74.61 and 81.19% on datasets 2a and 2b, respectively. Compared with the baseline algorithm, filter bank common spatial pattern (FBCSP), the proposed algorithm improves by 11.44 and 7.11% on two datasets, respectively (p < 0.05). It is demonstrated that FBACSP has a strong ability to decode MI-EEG. In addition, the analysis based on mutual information, t-SNE, and Shapley values further proves that ASP features have excellent decoding ability for MI-EEG signals and explains the improvement of classification performance by the introduction of ASP features. These findings may provide useful information to optimize EEG-based BCI systems and further improve the performance of non-invasive BCI.

BCI-Utility Metric for Asynchronous P300 Brain-Computer Interface Systems.

The Brain-Computer Interface (BCI) was envisioned as an assistive technology option for people with severe movement impairments. The traditional synchronous event-related potential (ERP) BCI design uses a fixed communication speed and is vulnerable to variations in attention. Recent ERP BCI designs have added asynchronous features, including abstention and dynamic stopping, but it remains a open question of how to evaluate asynchronous BCI performance. In this work, we build on the BCI-Utility metric to create the first evaluation metric with special consideration of the asynchronous features of self-paced BCIs. This metric considers accuracy as all of the following three - probability of a correct selection when a selection was intended, probability of making a selection when a selection was intended, and probability of an abstention when an abstention was intended. Further, it considers the average time required for a selection when using dynamic stopping and the proportion of intended selections versus abstentions. We establish the validity of the derived metric via extensive simulations, and illustrate and discuss its practical usage on real-world BCI data. We describe the relative contribution of different inputs with plots of BCI-Utility curves under different parameter settings. Generally, the BCI-Utility metric increases as any of the accuracy values increase and decreases as the expected time for an intended selection increases. Furthermore, in many situations, we find shortening the expected time of an intended selection is the most effective way to improve the BCI-Utility, which necessitates the advancement of asynchronous BCI systems capable of accurate abstention and dynamic stopping.

Frequency Superposition - A Multi-Frequency Stimulation Method in SSVEP-based BCIs.

The steady-state visual evoked potential (SSVEP) is one of the most widely used modalities in brain-computer interfaces (BCIs) due to its many advantages. However, the existence of harmonics and the limited range of responsive frequencies in SSVEP make it challenging to further expand the number of targets without sacrificing other aspects of the interface or putting additional constraints on the system. This paper introduces a novel multi-frequency stimulation method for SSVEP and investigates its potential to effectively and efficiently increase the number of targets presented. The proposed stimulation method, obtained by the superposition of the stimulation signals at different frequencies, is size-efficient, allows single-step target identification, puts no strict constraints on the usable frequency range, can be suited to self-paced BCIs, and does not require specific light sources. In addition to the stimulus frequencies and their harmonics, the evoked SSVEP waveforms include frequencies that are integer linear combinations of the stimulus frequencies. Results of decoding SSVEPs collected from nine subjects using canonical correlation analysis (CCA) with only the frequencies and harmonics as reference, also demonstrate the potential of using such a stimulation paradigm in SSVEP-based BCIs.

A multi-modal modified feedback self-paced BCI to control the gait of an avatar

Brain–computer interfaces (BCIs) have been used to control the gait of a virtual self-avatar with a proposed application in the field of gait rehabilitation. Some limitations of existing systems are: (a) some systems use mental imagery (MI) of movements other than gait; (b) most systems allow the user to take single steps or to walk but do not allow both; (c) most function in a single BCI mode (cue-paced or self-paced). Objective. The objective of this study was to develop a high performance multi-modal BCI to control single steps and forward walking of an immersive virtual reality avatar. Approach. This system used MI of these actions, in cue-paced and self-paced modes. Twenty healthy participants participated in this study, which was comprised of four sessions across four different days. They were cued to imagine a single step forward with their right or left foot, or to imagine walking forward. They were instructed to reach a target by using the MI of multiple steps (self-paced switch-control mode) or by maintaining MI of forward walking (continuous-control mode). The movement of the avatar was controlled by two calibrated regularized linear discriminate analysis classifiers that used the µ power spectral density over the foot area of the motor cortex as a feature. The classifiers were retrained after every session. For a subset of the trials, positive modified feedback (MDF) was presented to half of the participants, where the avatar moved correctly regardless of the classification of the participants’ MI. The performance of the BCI was computed on each day, using different control modes. Main results. All participants were able to operate the BCI. Their average offline performance, after retraining the classifiers was 86.0 ± 6.1%, showing that the recalibration of the classifiers enhanced the offline performance of the BCI (p < 0.01). The average online performance was 85.9 ± 8.4% showing that MDF enhanced BCI performance (p = 0.001). The average performance was 83% at self-paced switch control and 92% at continuous control mode. Significance. This study reports on a first BCI to use motor imagery of the lower limbs in order to control the gait of an avatar with different control modes and different control commands (single steps or forward walking). BCI performance is increased in a novel way by combining three different performance enhancement techniques, resulting in a single high performance and multi-modal BCI system. This study also showed that the improvements due to the effects of MDF lasted for more than one session.

A Self-Paced BCI With a Collaborative Controller for Highly Reliable Wheelchair Driving: Experimental Tests With Physically Disabled Individuals

Brain-controlled wheelchairs (BCWs) are a promising solution for people with severe motor disabilities, who cannot use conventional interfaces. However, the low reliability of electroencephalographic signal decoding and the high user's workload imposed by continuous control of a wheelchair requires effective approaches. In this article, we propose a self-paced P300-based brain–computer interface (BCI) combined with dynamic time-window commands and a collaborative controller. The self-paced approach allows users to switch between control and noncontrol states without requiring any additional task or mental strategy, while the dynamic time-window commands allow balancing the reliability and speed of the BCI. The collaborative controller, combining user's intentions and navigation information, offers the possibility to navigate in complex environments and to improve the overall system reliability. The feasibility of the proposed approach and the impact of each system component (self-paced, dynamic time window, and collaborative controller) are systematically validated in a set of experiments conducted with seven able-bodied participants and six physically disabled participants steering a robotic wheelchair in real-office-like environments. These two groups controlled the BCW with a final driving accuracy greater than 99%. Quantitative and subjective results, assessed through questionnaires, attest to the effectiveness of the proposed approach. Altogether, these findings contribute to improving the usability of BCWs and, hence, the potential for their use by target users in home settings.

Development of a brain-computer interface for patients in the critical care setting.

ObjectiveBehaviorally unresponsive patients in intensive care units (ICU) are unable to consistently and effectively communicate their most fundamental physical needs. Brain-Computer Interface (BCI) technology has been established in the clinical context, but faces challenges in the critical care environment. Contrary to cue-based BCIs, which allow activation only during pre-determined periods of time, self-paced BCI systems empower patients to interact with others at any time. The study aims to develop a self-paced BCI for patients in the intensive care unit.MethodsBCI experiments were conducted in 18 ICU patients and 5 healthy volunteers. The proposed self-paced BCI system analyzes EEG activity from patients while these are asked to control a beeping tone by performing a motor task (i.e., opening and closing a hand). Signal decoding is performed in real time and auditory feedback given via headphones. Performance of the BCI system was judged based on correlation between the optimal and the observed performance.ResultsAll 5 healthy volunteers were able to successfully perform the BCI task, compared to chance alone (p<0.001). 5 of 14 (36%) conscious ICU patients were able to perform the BCI task. One of these 5 patients was quadriplegic and controlled the BCI system without any hand movements. None of the 4 unconscious patients were able to perform the BCI task.ConclusionsMore than one third of conscious ICU patients and all healthy volunteers were able to gain control over the self-paced BCI system. The initial 4 unconscious patients were not. Future studies will focus on studying the ability of behaviorally unresponsive patients with cognitive motor dissociation to control the self-paced BCI system.

A self-paced BCI prototype system based on the incorporation of an intelligent environment-understanding approach for rehabilitation hospital environmental control

This paper presents a self-paced brain–computer interface (BCI) based on the incorporation of an intelligent environment-understanding approach into a motor imagery (MI) BCI system for rehabilitation hospital environmental control. The interface integrates four types of daily assistance tasks: medical calls, service calls, appliance control and catering services. The system introduces intelligent environment understanding technology to establish preliminary predictions concerning a user’s control intention by extracting potential operational objects in the current environment through an object detection neural network. According to the characteristics of the four types of control and services, we establish different response mechanisms and use an intelligent decision-making method to design and dynamically optimize the relevant control instruction set. The control feedback is communicated to the user via voice prompts; it avoids the use of visual channels throughout the interaction. The asynchronous and synchronous modes of the MI-BCI are designed to launch the control process and to select specific operations, respectively. In particular, the reliability of the MI-BCI is enhanced by the optimized identification algorithm. An online experiment demonstrated that the system can respond quickly and it generates an activation command in an average of 3.38s while effectively preventing false activations; the average accuracy of the BCI synchronization commands was 89.2%, which represents sufficiently effective control. The proposed system is efficient, applicable and can be used to both improve system information throughput and to reduce mental loads. The proposed system can be used to assist with the daily lives of patients with severe motor impairments.

World's fastest brain-computer interface: Combining EEG2Code with deep learning.

We present a novel approach based on deep learning for decoding sensory information from non-invasively recorded Electroencephalograms (EEG). It can either be used in a passive Brain-Computer Interface (BCI) to predict properties of a visual stimulus the person is viewing, or it can be used to actively control a BCI application. Both scenarios were tested, whereby an average information transfer rate (ITR) of 701 bit/min was achieved for the passive BCI approach with the best subject achieving an online ITR of 1237 bit/min. Further, it allowed the discrimination of 500,000 different visual stimuli based on only 2 seconds of EEG data with an accuracy of up to 100%. When using the method for an asynchronous self-paced BCI for spelling, an average utility rate of 175 bit/min was achieved, which corresponds to an average of 35 error-free letters per minute. As the presented method extracts more than three times more information than the previously fastest approach, we suggest that EEG signals carry more information than generally assumed. Finally, we observed a ceiling effect such that information content in the EEG exceeds that required for BCI control, and therefore we discuss if BCI research has reached a point where the performance of non-invasive visual BCI control cannot be substantially improved anymore.

A two-step idle-state detection method for SSVEP BCI.

The role of detecting work/idle state in asynchronous Steady-state visual evoked potential (SSVEP) Brain-computer interface (BCI) or a self-paced SSVEP BCI has received increased attention in recent years. This study proposed a tree structure method which identifies the work/idle state based on the frequency recognition to detect work/idle state. Firstly, a frequency recognition estimated with task-related component analysis (TRCA). Then, the work/idle state is classified with step-wise linear discriminant analysis (SWLDA) using the data fusion of TRCA scores and power spectral density (PSD) as features. This method was evaluated by Electroencephalography (EEG) data from fourteen healthy participants with eight frequencies as work states and three idle state conditions. The averaged AUC of this method achieved 0.89 with data lengths of one second, which was significantly higher than that of the conventional power spectrum-based algorithm. The proposed method could identify the work/idle state fast and accurately, making the SSVEP BCI better suited for practical application.

Self-Paced Online vs. Cue-Based Offline Brain-Computer Interfaces for Inducing Neural Plasticity.

Brain–computer interfaces (BCIs), operated in a cue-based (offline) or self-paced (online) mode, can be used for inducing cortical plasticity for stroke rehabilitation by the pairing of movement-related brain activity with peripheral electrical stimulation. The aim of this study was to compare the difference in cortical plasticity induced by the two BCI modes. Fifteen healthy participants participated in two experimental sessions: cue-based BCI and self-paced BCI. In both sessions, imagined dorsiflexions were extracted from continuous electroencephalogram (EEG) and paired 50 times with the electrical stimulation of the common peroneal nerve. Before, immediately after, and 30 min after each intervention, the cortical excitability was measured through the motor-evoked potentials (MEPs) of tibialis anterior elicited through transcranial magnetic stimulation. Linear mixed regression models showed that the MEP amplitudes increased significantly (p < 0.05) from pre- to post- and 30-min post-intervention in terms of both the absolute and relative units, regardless of the intervention type. Compared to pre-interventions, the absolute MEP size increased by 79% in post- and 68% in 30-min post-intervention in the self-paced mode (with a true positive rate of ~75%), and by 37% in post- and 55% in 30-min post-intervention in the cue-based mode. The two modes were significantly different (p = 0.03) at post-intervention (relative units) but were similar at both post timepoints (absolute units). These findings suggest that immediate changes in cortical excitability may have implications for stroke rehabilitation, where it could be used as a priming protocol in conjunction with another intervention; however, the findings need to be validated in studies involving stroke patients.

Investigation of Optimal Afferent Feedback Modality for Inducing Neural Plasticity with A Self-Paced Brain-Computer Interface

Brain-computer interfaces (BCIs) can be used to induce neural plasticity in the human nervous system by pairing motor cortical activity with relevant afferent feedback, which can be used in neurorehabilitation. The aim of this study was to identify the optimal type or combination of afferent feedback modalities to increase cortical excitability in a BCI training intervention. In three experimental sessions, 12 healthy participants imagined a dorsiflexion that was decoded by a BCI which activated relevant afferent feedback: (1) electrical nerve stimulation (ES) (peroneal nerve—innervating tibialis anterior), (2) passive movement (PM) of the ankle joint, or (3) combined electrical stimulation and passive movement (Comb). The cortical excitability was assessed with transcranial magnetic stimulation determining motor evoked potentials (MEPs) in tibialis anterior before, immediately after and 30 min after the BCI training. Linear mixed regression models were used to assess the changes in MEPs. The three interventions led to a significant (p < 0.05) increase in MEP amplitudes immediately and 30 min after the training. The effect sizes of Comb paradigm were larger than ES and PM, although, these differences were not statistically significant (p > 0.05). These results indicate that the timing of movement imagery and afferent feedback is the main determinant of induced cortical plasticity whereas the specific type of feedback has a moderate impact. These findings can be important for the translation of such a BCI protocol to the clinical practice where by combining the BCI with the already available equipment cortical plasticity can be effectively induced. The findings in the current study need to be validated in stroke populations.

A Novel Technique for Selecting EMG-Contaminated EEG Channels in Self-Paced Brain-Computer Interface Task Onset.

Electromyography artifacts are a well-known problem in electroencephalography studies [brain-computer interfaces (BCIs), brain mapping, and clinical areas]. Blind source separation (BSS) techniques are commonly used to handle artifacts. However, these may remove not only the EMG artifacts but also some useful electroencephalography (EEG) sources. To reduce this useful information loss, we propose a new technique for statistically selecting EEG channels that are contaminated with class-dependent EMG (henceforth called EMG-CCh). The EMG-CCh is selected based on the correlation between EEG and facial EMG channels. They were compared (using a Wilcoxon test) to determine whether the artifacts played a significant role in class separation. To ensure that the promising results are not due to the weak EMG removal, reliability tests were done In our data set, the comparison results between BSS artifact removal applied in two ways, to all channels and only to EMG-CCh showed that ICA, PCA, and BSS-CCA can yield significantly better ( ) class separation with the proposed method (79% of the cases for ICA, 53% for PCA, and 11% for BSS-CCA). With BCI competition data, we saw improvement in 60% of the cases for ICA and BSS-CCA. The simple method proposed in this paper showed improvement in class separation with both our data and the BCI competition data. There are no existing methods for removing EMG artifacts based on the correlation between the EEG and EMG channels. Also, the EMG-CCh selection can be used on its own or it can be combined with pre-existing artifact handling methods. For these reasons, we believe that this method can be useful for other EEG studies.

Discriminative codewaves: a symbolic dynamics approach to SSVEP recognition for asynchronous BCI

Objective. Steady-state visual evoked potential (SSVEP) is a very popular approach to establishing a communication pathway in brain–computer interfaces (BCIs), without any training requirements for the user. Brain activity recorded over occipital regions, in association with stimuli flickering at distinct frequencies, is used to predict the gaze direction. High performance is achieved when the analysis of multichannel signal is guided by the driving signals. This study introduces an efficient way of identifying the attended stimulus without the need to register the driving signals. Approach. Regional brain response is described as a dynamical trajectory towards one of the ‘attractors’ associated with the brainwave entrainment induced by the attended stimulus. A condensed description for each single-trial response is provided by means of discriminative vector quantization, and different trajectories are disentangled based on a simple classification scheme that uses templates and confidence intervals derived from a small training dataset. Main results. Experiments, based on two different datasets, provided evidence that the introduced approach compares favorably to well-established alternatives, regarding the information transfer rate. Significance. Our approach relies on (but not restricted to) single sensor traces, incorporates a novel description of brainwaves based on semi-supervised learning, and its great advantage stems from its potential for self-paced BCI.

Ensemble of Neural Network Conditional Random Fields for Self-Paced Brain Computer Interfaces

Ensemble of Neural Network Conditional Random Fields for Self-Paced Brain Computer Interfaces

Single Trial Predictors for Gating Motor-Imagery Brain-Computer Interfaces Based on Sensorimotor Rhythm and Visual Evoked Potentials

For brain-computer interfaces (BCIs) that utilize visual cues to direct the user, the neural signals extracted by the computer are representative of ongoing processes, visual evoked responses, and voluntary modulation. We proposed to use three brain signatures for predicting success on a single trial of a BCI task. The first two features, the amplitude and phase of the pre-trial mu amplitude, were chosen as a correlate for cortical excitability. The remaining feature, related to the visually evoked response to the cue, served as a possible measure of fixation and attention to the task. Of these three features, mu rhythm amplitude over the central electrodes at the time of cue presentation and to a lesser extent the single trial visual evoked response were correlated with the success on the subsequent imagery task. Despite the potential for gating trials using these features, an offline gating simulation was limited in its ability to produce an increase in device throughput. This discrepancy highlights a distinction between the identification of predictive features, and the use of this knowledge in an online BCI. Using such a system, we cannot assume that the user will respond similarly when faced with a scenario where feedback is altered by trials that are gated on a regular basis. The results of this study suggest the possibility of using individualized, pre-task neural signatures for personalized, and asynchronous (self-paced) BCI applications, although these effects need to be quantified in a real-time adaptive scenario in a future study.

SSVEP-based BCI: A "Plug & play" approach.

Brain-Computer Interface (BCI) can provide users with an alternative/augmentative interaction path, based on the interpretation of their brain activity. Steady State Visual Evoked Potentials (SSVEP) paradigm has many appealing features, aiming at implementing BCI-enabled communication-control applications. In this paper, we present a complete signal processing chain for a self-paced, SSVEP-based BCI. The proposed approach mostly focuses at reducing the user effort in dealing with BCI, featuring no need of user-specific calibration or training. In this paper, the classification algorithm is introduced and first validated on offline waveforms, aiming at improving classification accuracy and minimizing the false positive rate. Then, implementation of an online, self-paced SSVEP BCI is illustrated. The scheme refers to a four-way choice and exploits discrimination between intentional control states and nocontrol ones. Good performance is achieved, both in terms of true positive rate (>94%), as well as low false positive rate (0.26 min(-1)), even in experiments carried out outside lab-controlled conditions.

Comparing Different Classifiers in Sensory Motor Brain Computer Interfaces.

A problem that impedes the progress in Brain-Computer Interface (BCI) research is the difficulty in reproducing the results of different papers. Comparing different algorithms at present is very difficult. Some improvements have been made by the use of standard datasets to evaluate different algorithms. However, the lack of a comparison framework still exists. In this paper, we construct a new general comparison framework to compare different algorithms on several standard datasets. All these datasets correspond to sensory motor BCIs, and are obtained from 21 subjects during their operation of synchronous BCIs and 8 subjects using self-paced BCIs. Other researchers can use our framework to compare their own algorithms on their own datasets. We have compared the performance of different popular classification algorithms over these 29 subjects and performed statistical tests to validate our results. Our findings suggest that, for a given subject, the choice of the classifier for a BCI system depends on the feature extraction method used in that BCI system. This is in contrary to most of publications in the field that have used Linear Discriminant Analysis (LDA) as the classifier of choice for BCI systems.

A hybrid NIRS-EEG system for self-paced brain computer interface with online motor imagery

BackgroundFor a self-paced motor imagery based brain–computer interface (BCI), the system should be able to recognize the occurrence of a motor imagery, as well as the type of the motor imagery. However, because of the difficulty of detecting the occurrence of a motor imagery, general motor imagery based BCI studies have been focusing on the cued motor imagery paradigm. New methodIn this paper, we present a novel hybrid BCI system that uses near infrared spectroscopy (NIRS) and electroencephalography (EEG) systems together to achieve online self-paced motor imagery based BCI. We designed a unique sensor frame that records NIRS and EEG simultaneously for the realization of our system. Based on this hybrid system, we proposed a novel analysis method that detects the occurrence of a motor imagery with the NIRS system, and classifies its type with the EEG system. ResultsAn online experiment demonstrated that our hybrid system had a true positive rate of about 88%, a false positive rate of 7% with an average response time of 10.36s. Comparison with existing method(s)As far as we know, there is no report that explored hemodynamic brain switch for self-paced motor imagery based BCI with hybrid EEG and NIRS system. ConclusionsFrom our experimental results, our hybrid system showed enough reliability for using in a practical self-paced motor imagery based BCI.

Mobile robot navigation with a self-paced brain–computer interface based on high-frequency SSVEP

SUMMARYA brain–computer interface (BCI) is a system for commanding a device by means of brain signals without having to move any muscle. One kind of BCI is based on Steady-State Visual Evoked Potentials (SSVEP), which are evoked visual cortex responses elicited by a twinkling light source. Stimuli can produce visual fatigue; however, it has been well established that high-frequency SSVEP (&gt;30 Hz) does not. In this paper, a mobile robot is remotely navigated into an office environment by means of an asynchronous high-frequency SSVEP-based BCI along with the image of a video camera. This BCI uses only three electroencephalographic channels and a simple processing signal method. The robot velocity control and the avoidance obstacle algorithms are also herein described. Seven volunteers were able to drive the mobile robot towards two different places. They had to evade desks and shelves, pass through a doorway and navigate in a corridor. The system was designed so as to allow the subject to move about without restrictions, since he/she had full robot movement's control. It was concluded that the developed system allows for remote mobile robot navigation in real indoor environments using brain signals. The proposed system is easy to use and does not require any special training. The user's visual fatigue is reduced because high-frequency stimulation is employed and, furthermore, the user gazes at the stimulus only when a command must be sent to the robot.

Operation of a brain-computer interface walking simulator for individuals with spinal cord injury

BackgroundSpinal cord injury (SCI) can leave the affected individuals with paraparesis or paraplegia, thus rendering them unable to ambulate. Since there are currently no restorative treatments for this population, novel approaches such as brain-controlled prostheses have been sought. Our recent studies show that a brain-computer interface (BCI) can be used to control ambulation within a virtual reality environment (VRE), suggesting that a BCI-controlled lower extremity prosthesis for ambulation may be feasible. However, the operability of our BCI has not yet been tested in a SCI population.MethodsFive participants with paraplegia or tetraplegia due to SCI underwent a 10-min training session in which they alternated between kinesthetic motor imagery (KMI) of idling and walking while their electroencephalogram (EEG) were recorded. Participants then performed a goal-oriented online task, where they utilized KMI to control the linear ambulation of an avatar while making 10 sequential stops at designated points within the VRE. Multiple online trials were performed in a single day, and this procedure was repeated across 5 experimental days.ResultsClassification accuracy of idling and walking was estimated offline and ranged from 60.5% (p = 0.0176) to 92.3% (p = 1.36×10−20) across participants and days. Offline analysis revealed that the activation of mid-frontal areas mostly in the μ and low β bands was the most consistent feature for differentiating between idling and walking KMI. In the online task, participants achieved an average performance of 7.4±2.3 successful stops in 273±51 sec. These performances were purposeful, i.e. significantly different from the random walk Monte Carlo simulations (p<0.01), and all but one participant achieved purposeful control within the first day of the experiments. Finally, all participants were able to maintain purposeful control throughout the study, and their online performances improved over time.ConclusionsThe results of this study demonstrate that SCI participants can purposefully operate a self-paced BCI walking simulator to complete a goal-oriented ambulation task. The operation of the proposed BCI system requires short training, is intuitive, and robust against participant-to-participant and day-to-day neurophysiological variations. These findings indicate that BCI-controlled lower extremity prostheses for gait rehabilitation or restoration after SCI may be feasible in the future.