Cross-domain prediction approach of human lower limb voluntary movement intention for exoskeleton robot based on EEG signals.

Background and Objective: Exoskeleton robot control should ideally be based on human voluntary movement intention. The readiness potential (RP) component of the motion-related cortical potential is observed before movement in the electroencephalogram and can be used for intention prediction. However, its single-trial features are weak and highly variable, and existing methods cannot achieve high cross-temporal and cross-subject accuracies in practical online applications. Therefore, this work aimed to combine a deep convolutional neural network (CNN) framework with a transfer learning (TL) strategy to predict the lower limb voluntary movement intention, thereby improving the accuracy while enhancing the model generalization capability; this would also provide sufficient processing time for the response of the exoskeleton robotic system and help realize robot control based on the intention of the human body. Methods: The signal characteristics of the RP for lower limb movement were analyzed, and a parameter TL strategy based on CNN was proposed to predict the intention of voluntary lower limb movements. We recruited 10 subjects for offline and online experiments. Multivariate empirical-mode decomposition was used to remove the artifacts, and the moment of onset of voluntary movement was labeled using lower limb electromyography signals during network training. Results: The RP features can be observed from multiple data overlays before the onset of voluntary lower limb movements, and these features have long latency periods. The offline experimental results showed that the average movement intention prediction accuracy was 95.23% ± 1.25% for the right leg and 91.21% ± 1.48% for the left leg, which showed good cross-temporal and cross-subject generalization while greatly reducing the training time. Online movement intention prediction can predict results about 483.9 ± 11.9 ms before movement onset with an average accuracy of 82.75%. Conclusion: The proposed method has a higher prediction accuracy with a lower training time, has good generalization performance for cross-temporal and cross-subject aspects, and is well-prioritized in terms of the temporal responses; these features are expected to lay the foundation for further investigations on exoskeleton robot control.

Galvanic vestibular stimulation modulates EEG markers of voluntary movement in Parkinson's disease.

We recently showed that vestibular stimulation can produce a long-lasting alleviation of motor features in Parkinson's disease. Here we investigated whether components of the motor related cortical response that are commonly compromised in Parkinson's - the Bereitschaftspotential and mu-rhythm event-related desynchronization - are modulated by concurrent, low frequency galvanic vestibular stimulation (GVS) during repetitive limb movement amongst 17 individuals with idiopathic Parkinson's disease. Relative to sham, GVS was favourably associated with higher amplitudes during the late and movement phases of the Bereitschaftspotential and with a more pronounced decrease in spectral power within the mu-rhythm range during finger-tapping. These data increase understanding of how GVS interacts with the preparation and execution of voluntary movement and give added impetus to explore its therapeutic effects on Parkinsonian motor features.

Exploring the Consistent Roles of Motor Areas Across Voluntary Movement and Locomotion.

Multiple cortical motor areas are critically involved in the voluntary control of discrete movement (e.g., reaching) and gait. Here, we outline experimental findings in nonhuman primates with clinical reports and research in humans that explain characteristic movement control mechanisms in the primary, supplementary, and presupplementary motor areas, as well as in the dorsal premotor area. We then focus on single-neuron activity recorded while monkeys performed motor sequences consisting of multiple discrete movements, and we consider how area-specific control mechanisms may contribute to the performance of complex movements. Following this, we explore the motor areas in cats that we have considered as analogs of those in primates based on similarities in their cortical surface topology, anatomic connections, microstimulation effects, and activity patterns. Emphasizing that discrete movement and gait modification entail similar control mechanisms, we argue that single-neuron activity in each area of the cat during gait modification is compatible with the function ascribed to the activity in the corresponding area in primates, recorded during the performance of discrete movements. The findings that demonstrate the premotor areas' contribution to locomotion, currently unique to the cat model, should offer highly valuable insights into the control mechanisms of locomotion in primates, including humans.

Mapping of spastic muscle activity after stroke: difference between passive stretch and active contraction.

BACKGROUND: Investigating the spatial distribution of muscle activity would facilitate understanding the underlying mechanism of spasticity. The purpose of this study is to investigate the characteristics of spastic muscles during passive stretch and active contraction by high-density surface electromyography (HD-sEMG). METHODS: Fourteen spastic hemiparetic subjects and ten healthy subjects were recruited. The biceps brachii (BB) muscle activity of each subject was recorded by HD-sEMG during passive stretch at four stretch velocities (10, 60, 120, 180˚/s) and active contraction at three submaximal contraction levels (20, 50, 80%MVC). The intensity and spatial distribution of the BB activity were compared by the means of two-way analysis of variance, independent sample t-test, and paired sample t-test. RESULTS: Compared with healthy subjects, spastic hemiparetic subjects showed significantly higher intensity with velocity-dependent heterogeneous activation during passive stretch and more lateral and proximal activation distribution during active contraction. In addition, spastic hemiparetic subjects displayed almost non-overlapping activation areas during passive stretch and active contraction. The activation distribution of passive stretch was more distal when compared with the active contraction. CONCLUSIONS: These alterations of the BB activity could be the consequence of deficits in the descending central control after stroke. The complementary spatial distribution of spastic BB activity reflected their opposite motor units (MUs) recruitment patterns between passive stretch and active contraction. This HD-sEMG study provides new neurophysiological evidence for the spatial relationship of spastic BB activity between passive stretch and active contraction, advancing our knowledge on the mechanism of spasticity. TRIAL REGISTRATION: ChiCTR2000032245.

Does 20 Hz Transcranial Alternating Current Stimulation over the Human Primary Motor Cortex Modulate Beta Rebound Following Voluntary Movement?

Beta frequency oscillations originating from the primary motor cortex increase in amplitude following the initiation of voluntary movement, a process termed beta rebound. The strength of beta rebound has been reported to predict the recovery of motor function following stroke, suggesting therapeutic applications of beta rebound modulation. The present study examined the effect of 20 Hz transcranial alternating current stimulation (tACS) on the beta rebound induced by self-paced voluntary movement. Electroencephalograms (EEGs) and electromyograms (EMGs) were recorded from 16 healthy adults during voluntary movements performed before and after active or sham tACS. There was no significant change in average beta rebound after active tACS. However, the beta rebound amplitude was significantly enhanced in a subset of participants, and the magnitude of the increase across all participants was negatively correlated with the difference between individual peak beta frequency and tACS frequency. Thus, matching the stimulus frequency of tACS with individual beta frequency may facilitate therapeutic enhancement for motor rehabilitation.

Sensory Information Modulates Voluntary Movement in an Individual with a Clinically Motor- and Sensory-Complete Spinal Cord Injury: A Case Report.

Motor recovery following a complete spinal cord injury is not likely. This is partially due to insurance limitations. Rehabilitation strategies for individuals with this type of severe injury focus on the compensation for the activities of daily living in the home and community and not on the restoration of function. With limited time in therapies, the initial goals must focus on getting the patient home safely without the expectation of recovery of voluntary movement below the level of injury. In this study, we report a case of an individual with a chronic, cervical (C3)-level clinically motor- and sensory-complete injury who was able to perform voluntary movements with both upper and lower extremities when positioned in a sensory-rich environment conducive to the specific motor task. We show how he is able to intentionally perform push-ups, trunk extensions and leg presses only when appropriate sensory information is available to the spinal circuitry. These data show that the human spinal circuitry, even in the absence of clinically detectable supraspinal input, can generate motor patterns effective for the execution of various upper and lower extremity tasks, only when appropriate sensory information is present. Neurorehabilitation in the right sensory-motor environment that can promote partial recovery of voluntary movements below the level of injury, even in individuals diagnosed with a clinically motor-complete spinal cord injury.

Synaptic crossroads: navigating the circuits of movement.

The anterior lateral motor area (ALM) is crucial in preparing and executing voluntary movements through its diverse neuronal subpopulations that target different subcortical areas. A recent study by Xu et al. utilized an elaborate viral tracing strategy in mice to provide comprehensive whole-brain maps of monosynaptic inputs to the major descending pathways of ALM.

Extended source analysis of movement related potentials (MRPs) for self-paced hand and foot movements demonstrates opposing cerebral and cerebellar laterality: a preliminary study.

The cerebellum is known to have extensive reciprocal connectivity with the cerebral cortex, including with prefrontal and posterior parietal cortex, which play an important role on the planning and execution of voluntary movement. In the present article we report an exploratory non-invasive electrophysiological study of the activity of the cerebellum and cerebrum during voluntary finger and foot movements. In a sample of five healthy adult subjects, we recorded EEG and the electro-cerebellogram (ECeG) with a 10% cerebellar extension montage during voluntary left and right index finger and foot movements. EMG was recorded from finger extensors and flexors and from the tibialis anterior and soleus muscles and was used to generate triggers for movement related averaging (-2000 to +2000 ms). Source analysis was conducted over five epochs defined relative to EMG onset: whole epoch (-1000 to +1000 ms), pre-move 1000 (-1000 to 0 ms), pre-move 500 (-500 to 0 ms), post-move 500 (0 to +500 ms) and post-move 1000 (0 to +1000 ms). This yielded a total of 123 cerebral and 65 cerebellar dipole clusters from across all epochs, including the pre-movement epochs, which were then subject to statistical analysis. These demonstrated predominantly contralateral dominance for the cerebral clusters, but predominantly ipsilateral dominance for the cerebellar clusters. In addition, both cerebral and cerebellar clusters showed evidence of a somatotopic gradient, medially (X-axis) for the cerebral clusters, and medially and dorso-ventrally (Z-axis) for the cerebellar clusters. These findings support the value of recording cerebellar ECeG and demonstrate its potential to contribute to understanding cerebellar function.

A motor plan is accessible for voluntary initiation and involuntary triggering at similar short latencies.

Movement goals are an essential component of motor planning, altering voluntary and involuntary motor actions. While there have been many studies of motor planning, it is unclear if motor goals influence voluntary and involuntary movements at similar latencies. The objectives of this study were to determine how long it takes to prepare a motor action and to compare this time for voluntary and involuntary movements. We hypothesized a prepared motor action would influence voluntarily and involuntarily initiated movements at the same latency. We trained subjects to reach with a forced reaction time paradigm and used a startling acoustic stimulus (SAS) to trigger involuntary initiation of the same reaches. The time available to prepare was controlled by varying when one of four reach targets was presented. Reach direction was used to evaluate accuracy. We quantified the time between target presentation and the cue or trigger for movement initiation. We found that reaches were accurately initiated when the target was presented 48 ms before the SAS and 162 ms before the cue to voluntarily initiate movement. While the SAS precisely controlled the latency of movement onset, voluntary reach onset was more variable. We, therefore, quantified the time between target presentation and movement onset and found no significant difference in the time required to plan reaches initiated voluntarily or involuntarily (∆ = 8 ms, p = 0.2). These results demonstrate that the time required to plan accurate reaches is similar regardless of if they are initiated voluntarily or triggered involuntarily. This finding may inform the understanding of neural pathways governing storage and access of motor plans.

The role of ipsilateral motor network in upper limb movement.

The execution of voluntary movements is primarily governed by the cerebral hemisphere contralateral to the moving limb. Previous research indicates that the ipsilateral motor network, comprising the primary motor cortex (M1), supplementary motor area (SMA), and premotor cortex (PM), plays a crucial role in the planning and execution of limb movements. However, the precise functions of this network and its interplay in different task contexts have yet to be fully understood. Twenty healthy right-handed participants (10 females, mean age 26.1 ± 4.6 years) underwent functional MRI scans while performing biceps brachii representations such as bilateral, unilateral flexion, and bilateral flexion-extension. Ipsilateral motor evoked potentials (iMEPs) were obtained from the identical set of participants in a prior study using transcranial magnetic stimulation (TMS) targeting M1 while employing the same motor tasks. The voxel time series was extracted based on the region of interest (M1, SMA, ventral PM and dorsal PM). Directed functinal connectivity was derived from the extracted time series using time-resolved partial directed coherence. We found increased connectivity from left-PMv to both sides M1, as well as right-PMv to both sides SMA, in unilateral flexion compared to bilateral flexion. Connectivity from left M1 to left-PMv, and left-SMA to right-PMd, also increased in both unilateral flexion and bilateral flexion-extension compared to bilateral flexion. However, connectivity between PMv and right-M1 to left-PMd decreased during bilateral flexion-extension compared to unilateral flexion. Additionally, during bilateral flexion-extension, the connectivity from right-M1 to right-SMA had a negative relationship with the area ratio of iMEP in the dominant side. Our results provide corroborating evidence for prior research suggesting that the ipsilateral motor network is implicated in the voluntary movements and underscores its involvement in cognitive processes such as movement planning and coordination. Moreover, ipsilateral connectivity from M1 to SMA on the dominant side can modulate the degree of ipsilateral M1 activation during bilateral antagonistic contraction.

Cortical facilitation of tactile afferents during the preparation of a body weight transfer when standing on a biomimetic surface.

Self-generated movement shapes tactile perception, but few studies have investigated the brain mechanisms involved in the processing of the mechanical signals related to the static and transient skin deformations generated by forces and pressures exerted between the foot skin and the standing surface. We recently found that standing on a biomimetic surface (i.e., inspired by the characteristics of mechanoreceptors and skin dermatoglyphics), that magnified skin-surface interaction, increased the sensory flow to the somatosensory cortex and improved balance control compared to standing on control (e.g., smooth) surfaces. In this study, we tested whether the well-known sensory suppression that occurs during movements is alleviated when the tactile afferent signal becomes relevant with the use of a biomimetic surface. Eyes-closed participants (n = 25) self-stimulated their foot cutaneous receptors by shifting their body weight toward one of their legs while standing on either a biomimetic or a control (smooth) surface. In a control task, similar forces were exerted on the surfaces (i.e., similar skin-surface interaction) by passive translations of the surfaces. Sensory gating was assessed by measuring the amplitude of the somatosensory-evoked potential over the vertex (SEP, recorded by EEG). Significantly larger and shorter SEPs were found when participants stood on the biomimetic surface. This was observed whether the forces exerted on the surface were self-generated or passively generated. Contrary to our prediction, we found that the sensory attenuation related to the self-generated movement did not significantly differ between the biomimetic and control surfaces. However, we observed an increase in gamma activity (30-50 Hz) over centroparietal regions during the preparation phase of the weight shift only when participants stood on the biomimetic surface. This result might suggest that gamma-band oscillations play an important functional role in processing behaviorally relevant stimuli during the early stages of body weight transfer.

The concepts of muscle activity generation driven by upper limb kinematics.

BACKGROUND: The underlying motivation of this work is to demonstrate that artificial muscle activity of known and unknown motion can be generated based on motion parameters, such as angular position, acceleration, and velocity of each joint (or the end-effector instead), which are similarly represented in our brains. This model is motivated by the known motion planning process in the central nervous system. That process incorporates the current body state from sensory systems and previous experiences, which might be represented as pre-learned inverse dynamics that generate associated muscle activity. METHODS: We develop a novel approach utilizing recurrent neural networks that are able to predict muscle activity of the upper limbs associated with complex 3D human arm motions. Therefore, motion parameters such as joint angle, velocity, acceleration, hand position, and orientation, serve as input for the models. In addition, these models are trained on multiple subjects (n=5 including , 3 male in the age of 26±2 years) and thus can generalize across individuals. In particular, we distinguish between a general model that has been trained on several subjects, a subject-specific model, and a specific fine-tuned model using a transfer learning approach to adapt the model to a new subject. Estimators such as mean square error MSE, correlation coefficient r, and coefficient of determination R2 are used to evaluate the goodness of fit. We additionally assess performance by developing a new score called the zero-line score. The present approach was compared with multiple other architectures. RESULTS: The presented approach predicts the muscle activity for previously through different subjects with remarkable high precision and generalizing nicely for new motions that have not been trained before. In an exhausting comparison, our recurrent network outperformed all other architectures. In addition, the high inter-subject variation of the recorded muscle activity was successfully handled using a transfer learning approach, resulting in a good fit for the muscle activity for a new subject. CONCLUSIONS: The ability of this approach to efficiently predict muscle activity contributes to the fundamental understanding of motion control. Furthermore, this approach has great potential for use in rehabilitation contexts, both as a therapeutic approach and as an assistive device. The predicted muscle activity can be utilized to guide functional electrical stimulation, allowing specific muscles to be targeted and potentially improving overall rehabilitation outcomes.

Focal tonic seizures with asymmetrical posturing could allow voluntary movements: A lesson to not be misled for a non-epileptic event.

This report documents the clinical features of supplementary motor area seizures with voluntary movements in two patients. The first case describes a 13-year-old boy with a 2-year history of nocturnal seizures, characterized by an asymmetrical brief tonic posture followed by bilateral rapid hand shaking, but without impaired awareness. Magnetic resonance imaging revealed no abnormalities. Video electroencephalogram indicated interictal focal spikes and ictal activity 2 s before clinical onset in the frontal midline area. The patient stated that he purposely shook his hands to lessen the seizure-induced upper limb stiffness. The second case describes a 43-year-old man with a 33-year history of nocturnal seizures, characterized by an asymmetric brief tonic posture, with the right hand grabbing to hold this posture, but without impaired awareness. Video electroencephalogram indicated that he voluntarily moved his right hand during the latter part of the seizures; however, no clear ictal electroencephalogram change was noted. Magnetic resonance imaging revealed a mass lesion in the right medial superior frontal gyrus. Fluorodeoxyglucose-positron emission tomography and ictal single-photon emission computed tomography indicated ictal focus in the mesial frontal area, as confirmed by invasive electroencephalogram and seizure freedom after surgery. Both patients had typical supplementary motor area seizures, except they could perform voluntary movements in the body parts. The co-occurrence of supplementary motor area seizures and voluntary movements is clinically useful, as it may help avoid the inaccurate and misleading diagnosis of non-epileptic events such as psychogenic non-epileptic seizures.

Neural substrates of perception in the vestibular thalamus during natural self-motion: A review.

Accumulating evidence across multiple sensory modalities suggests that the thalamus does not simply relay information from the periphery to the cortex. Here we review recent findings showing that vestibular neurons within the ventral posteriolateral area of the thalamus perform nonlinear transformations on their afferent input that determine our subjective awareness of motion. Specifically, these neurons provide a substrate for previous psychophysical observations that perceptual discrimination thresholds are much better than predictions from Weber's law. This is because neural discrimination thresholds, which are determined from both variability and sensitivity, initially increase but then saturate with increasing stimulus amplitude, thereby matching the previously observed dependency of perceptual self-motion discrimination thresholds. Moreover, neural response dynamics give rise to unambiguous and optimized encoding of natural but not artificial stimuli. Finally, vestibular thalamic neurons selectively encode passively applied motion when occurring concurrently with voluntary (i.e., active) movements. Taken together, these results show that the vestibular thalamus plays an essential role towards generating motion perception as well as shaping our vestibular sense of agency that is not simply inherited from afferent input.

Moving without sensory feedback: online TMS over the dorsal premotor cortex impairs motor performance during ischemic nerve block.

The study investigates the role of dorsal premotor cortex (PMd) in generating predicted sensory consequences of movements, i.e. corollary discharges. In 2 different sessions, we disrupted PMd and parietal hand's multisensory integration site (control area) with transcranial magnetic stimulation (TMS) during a finger-sequence-tapping motor task. In this TMS sham-controlled design, the task was performed with normal sensory feedback and during upper-limb ischemic nerve block (INB), in a time-window where participants moved without somatosensation. Errors and movement timing (objective measures) and ratings about movement perception (subjective measures) were collected. We found that INB overall worsens objective and subjective measures, but crucially in the PMd session, the absence of somatosensation together with TMS disruption induced more errors, less synchronized movements, and increased subjective difficulty ratings as compared with the parietal control session (despite a carryover effect between real and sham stimulation to be addressed in future studies). Contrarily, after parietal area interference session, when sensory information is already missing due to INB, motor performance was not aggravated. Altogether these findings suggest that the loss of actual (through INB) and predicted (through PMd disruption) somatosensory feedback degraded motor performance and perception, highlighting the crucial role of PMd in generating corollary discharge.

Tuning of motor outputs produced by spinal stimulation during voluntary control of torque directions in monkeys.

Spinal stimulation is a promising method to restore motor function after impairment of descending pathways. While paresis, a weakness of voluntary movements driven by surviving descending pathways, can benefit from spinal stimulation, the effects of descending commands on motor outputs produced by spinal stimulation are unclear. Here, we show that descending commands amplify and shape the stimulus-induced muscle responses and torque outputs. During the wrist torque tracking task, spinal stimulation, at a current intensity in the range of balanced excitation and inhibition, over the cervical enlargement facilitated and/or suppressed activities of forelimb muscles. Magnitudes of these effects were dependent on directions of voluntarily produced torque and positively correlated with levels of voluntary muscle activity. Furthermore, the directions of evoked wrist torque corresponded to the directions of voluntarily produced torque. These results suggest that spinal stimulation is beneficial in cases of partial lesion of descending pathways by compensating for reduced descending commands through activation of excitatory and inhibitory synaptic connections to motoneurons.

Temporal dynamics of the sensorimotor convergence underlying voluntary limb movement.

Descending motor drive and somatosensory feedback play important roles in modulating muscle activity. Numerous studies have characterized the organization of neuronal connectivity in which descending motor pathways and somatosensory afferents converge on spinal motor neurons as a final common pathway. However, how inputs from these two pathways are integrated into spinal motor neurons to generate muscle activity during actual motor behavior is unknown. Here, we simultaneously recorded activity in the motor cortices (MCx), somatosensory afferent neurons, and forelimb muscles in monkeys performing reaching and grasping movements. We constructed a linear model to explain the instantaneous muscle activity using the activity of MCx (descending input) and peripheral afferents (afferent input). Decomposition of the reconstructed muscle activity into each subcomponent indicated that muscle activity before movement onset could first be explained by descending input from mainly the primary motor cortex and muscle activity after movement onset by both descending and afferent inputs. Descending input had a facilitative effect on all muscles, whereas afferent input had a facilitative or suppressive effect on each muscle. Such antagonistic effects of afferent input can be explained by reciprocal effects of the spinal reflex. These results suggest that descending input contributes to the initiation of limb movement, and this initial movement subsequently affects muscle activity via the spinal reflex in conjunction with the continuous descending input. Thus, spinal motor neurons are subjected to temporally organized modulation by direct activation through the descending pathway and the lagged action of the spinal reflex during voluntary limb movement.

Increased Inertia Triggers Linear Responses in Motor Cortices during Large-Extent Movements-A fNIRS Study.

Activities of daily living consist of accurate, coordinated movements, which require the upper limbs to constantly interact with environmental loads. The magnitude of the load was shown to affect kinematic outcomes in healthy subjects. Moreover, the increase in load facilitates the recovery of motor function in patients with neurological disorders. Although Brodmann Areas 4 and 6 were found to be active during loaded movements, it remains unclear whether stronger activation can be triggered simply by increasing the load magnitude. If such a linear relationship exists, it may provide a basis for the closed-loop adjustment of treatment plans in neurorehabilitation. Fourteen healthy participants were instructed to lift their hands to their armpits. The movements were grouped in blocks of 25 s. Each block was assigned a magnitude of inertial loads, either 0 pounds (bare hand), 3 pounds, or 15 pounds. Hemodynamic fNIRS signals were recorded throughout the experiment. Both channel-wise and ROI-wise analyses found significant activations against all three magnitudes of inertia. The generalized linear model revealed significant increases in the beta coefficient of 0.001673/pound in BA4 and 0.001338/pound in BA6. The linear trend was stronger in BA6 (conditional r2 = 0.9218) than in BA4 (conditional r2 = 0.8323).

Consciousness, Awareness, and Presence: A Neurobiological Perspective.

It is proposed that consciousness is different from awareness. Consciousness can be thought of as a dualistic, embodied, and embedded cognitive process, whereas awareness is a nondual and nonlocal process. Nonlocal awareness is the ever-present, ever-fresh, and an affective self-awareness that can be aware of itself as well as of the ongoing subject-object duality, and cognitive conscious contents. This nonlocal awareness is our default mode state. Although very few of us are aware of it due to our habitual mental preoccupation and mind-wandering. We need to relax, learn to meditate, let go of all preoccupations, and return to our default mode state of being, which is peaceful, silent, fulfilling, energetic, and ever-fresh. Then, one feels effortlessly alive and free and at home in the world. This is the essence of meditation for living a happy, peaceful, and meaningful life. The rest of the article provides details of meditative presence, yoga meditation, and mindfulness meditation with their current practice and applications. The main focus of the article is on the neurobiology of meditation, which is discussed in detail. It covers the experientially perceived mind-space including personal, peripersonal, and extrapersonal space, the concepts of mind in the Western and Eastern literature, and the neurobiological foundation in the brain stem, reticular-limbic system, forebrain including the five thalamo-cortical-basal ganglia circuits, multiple sensory modalities, integrated perception, speech production, language communication, voluntary movements, and intentional actions. The wholeness of conscious mind is expressed as bio-psycho-social-abstract/spiritual.