Anticipatory detection of turning in humans for intuitive control of robotic mobility assistance

Many wearable lower-limb robots for walking assistance have been developed in recent years. However, it remains unclear how they can be commanded in an intuitive and efficient way by their user. In particular, providing robotic assistance to neurologically impaired individuals in turning remains a significant challenge. The control should be safe to the users and their environment, yet yield sufficient performance and enable natural human-machine interaction. Here, we propose using the head and trunk anticipatory behaviour in order to detect the intention to turn in a natural, non-intrusive way, and use it for triggering turning movement in a robot for walking assistance. We therefore study head and trunk orientation during locomotion of healthy adults, and investigate upper body anticipatory behaviour during turning. The collected walking and turning kinematics data are clustered using the k-means algorithm and cross-validation tests and k-nearest neighbours method are used to evaluate the performance of turning detection during locomotion. Tests with seven subjects exhibited accurate turning detection. Head anticipated turning by more than 400–500 ms in average across all subjects. Overall, the proposed method detected turning 300 ms after its initiation and 1230 ms before the turning movement was completed. Using head anticipatory behaviour enabled to detect turning faster by about 100 ms, compared to turning detection using only pelvis orientation measurements. Finally, it was demonstrated that the proposed turning detection can improve the quality of human–robot interaction by improving the control accuracy and transparency

A Simple Statistical Method for the Automatic Detection of Ripples in Human Intracranial EEG

High frequency oscillations (HFOs) are a promising biomarker of epileptic tissue, but detection of these electrographic events remains a challenge. Automatic detectors show encouraging results, but they typically require optimization of multiple parameters, which is a barrier to good performance and broad applicability. We therefore propose a new automatic HFO detection algorithm, focusing on simplicity and ease of implementation. It requires tuning of only an amplitude threshold, which can be determined by an iterative process or directly calculated from statistics of the rectified filtered data (i.e. mean plus standard deviation). The iterative approach uses an estimate of the amplitude probability distribution of the background activity to calculate the optimum threshold for identification of transient high amplitude events. We tested both the iterative and non-iterative approaches using a dataset of visually marked HFOs, and we compared the performance to a commonly used detector based on the root-mean-square. When the threshold was optimized for individual channels via ROC curve, all three methods were comparable. The iterative detector achieved a sensitivity of 99.6%, false positive rate (FPR) of 1.1%, and false detection rate (FDR) of 37.3%. However, in an eight-fold cross-validation test, the iterative method had better sensitivity than the other two methods (80.0% compared to 64.4 and 65.8%), with FPR and FDR of 1.3, and 49.4%, respectively. The simplicity of this algorithm, with only a single parameter, will enable consistent application of automatic detection across research centers and recording modalities, and it may therefore be a powerful tool for the assessment and localization of epileptic activity

Deep brain activities can be detected with magnetoencephalography

International audienceThe hippocampus and amygdala are key brain structures of the medial temporal lobe, involved in cognitive and emotional processes as well as pathological states such as epilepsy. Despite their importance, it is still unclear whether their neural activity can be recorded non-invasively. Here, using simultaneous intracerebral and magnetoencephalography (MEG) recordings in patients with focal drug-resistant epilepsy, we demonstrate a direct contribution of amygdala and hippocampal activity to surface MEG recordings. In particular, a method of blind source separation, independent component analysis, enabled activity arising from large neocortical networks to be disentangled from that of deeper structures, whose amplitude at the surface was small but significant. This finding is highly relevant for our understanding of hippocampal and amygdala brain activity as it implies that their activity could potentially be measured non-invasively