Filter bank temporally delayed CCA for uncalibrated SSVEP-BCI.

The uncalibrated brain-computer interface (BCI) system based on steady-state visual evoked potential (SSVEP) can omit the training process and is closer to the practical application. Filter bank canonical correlation analysis (FBCCA), as a classical approach of uncalibrated SSVEP-based BCI, extracts the fundamental and harmonic ingredients through filter bank decomposition. Nevertheless, this method fails to fully leverage the temporal feature of the signal. The paper suggested utilizing reconstructed data with temporal delay in the computation of the canonical correlation coefficient, and the different combinations of the time-delayed embedding and FBCCA were discussed. We selected the data from seven participants in the Benchmark dataset for parameter optimization and evaluated the method across all participants. The experimental results showed that only embedding the time-delayed version into the first subband (FBdCCA) was better than embedding it into all subbands (FBdCCA(all)), and the accuracy of FBdCCA surpassed that of FBCCA significantly. This suggests that the approach of time-delayed embedding can further enhance the performance of FBCCA.

OS-SSVEP: One-shot SSVEP classification.

It is extremely challenging to classify steady-state visual evoked potentials (SSVEPs) in scenarios characterized by a huge scarcity of calibration data where only one calibration trial is available for each stimulus target. To address this challenge, we introduce a novel approach named OS-SSVEP, which combines a dual domain cross-subject fusion network (CSDuDoFN) with the task-related and task-discriminant component analysis (TRCA and TDCA) based on data augmentation. The CSDuDoFN framework is designed to comprehensively transfer information from source subjects, while TRCA and TDCA are employed to exploit the information from the single available calibration trial of the target subject. Specifically, CSDuDoFN uses multi-reference least-squares transformation (MLST) to map data from both the source subjects and the target subject into the domain of sine-cosine templates, thereby reducing cross-subject domain gap and benefiting transfer learning. In addition, CSDuDoFN is fed with both transformed and original data, with an adequate fusion of their features occurring at different network layers. To capitalize on the calibration trial of the target subject, OS-SSVEP utilizes source aliasing matrix estimation (SAME)-based data augmentation to incorporate into the training process of the ensemble TRCA (eTRCA) and TDCA models. Ultimately, the outputs of CSDuDoFN, eTRCA, and TDCA are combined for the SSVEP classification. The effectiveness of our proposed approach is comprehensively evaluated on three publicly available SSVEP datasets, achieving the best performance on two datasets and competitive performance on the third. Further, it is worth noting that our method follows a different technical route from the current state-of-the-art (SOTA) method and the two are complementary. The performance is significantly improved when our method is combined with the SOTA method. This study underscores the potential to integrate the SSVEP-based brain-computer interface (BCI) into daily life. The corresponding source code is accessible at https://github.com/Sungden/One-shot-SSVEP-classification.

Time-frequency feature extraction based on multivariable synchronization index for training-free SSVEP-based BCI.

Multivariate synchronization index (MSI), as an effective recognition algorithm for steady-state visual evoked potential (SSVEP) brain-computer interface (BCI), can accurately decode target frequencies without training. To further consider temporal features or extract harmonic components, extended MSI (EMSI), temporally local MSI (TMSI), and filter bank MSI (FBMSI) have been proposed. However, the promotion effects of the above three strategies on MSI have not been compared in detail. In this paper, the performance of EMSI, TMSI, and FBMSI under different time windows was analyzed with the same dataset. The results indicated that the improvement effect of the temporally local method on MSI was better than that of the other two methods under the short time window, and the effect of the filter bank method was better when the time window was greater than 0.8 s. Based on the idea of simultaneously extracting time-frequency features, FBEMSI and FBTMSI were proposed by integrating time delay embedding and temporally local method into FBMSI respectively. The two improved methods, which has no significant difference, can improve the recognition effect of FBMSI. But the computing time of FBEMSI was shorter, which can be a potential method for SSVEP-BCI.

SSVEP-based visual acuity threshold estimation: linear extrapolation to noise level baseline with various noise definition criteria.

This study aimed to explore the effect of various noise definition criteria in linear extrapolation technique to noise level baseline on steady-state visual evoked potential (SSVEP)-based visual acuity assessment. Four noise definition criteria on frequency-domain, i.e., the mean amplitude at the two adjacent bins of the target frequency, the mean amplitude of a narrow frequency band on either side of the target frequency, the mean amplitude at a broad frequency band except for the target frequency and its harmonic frequencies, and the mean amplitude at a broad frequency band at resting state, corresponding to noise 1, noise 2, noise 3, and noise 4, were introduced to calculate noise level baselines. Then, two experiments were implemented. In experiment 1, electroencephalography (EEG) signals of resting state were recorded for fourteen subjects. In experiment 2, the visual stimuli of vertical sinusoidal gratings at six spatial frequency steps were used to induce SSVEPs for twelve subjects. Finally, SSVEP visual acuity was obtained via the SSVEP visual acuity threshold estimation of linear extrapolation technique to noise level baseline with various noise definition criteria. The bland-Altman analysis found that the difference between subjective Freiburg Visual Acuity and Contrast Test (FrACT) and objective SSVEP visual acuity was - 0.0892, - 0.1071, - 0.0745, and - 0.0804 logMAR and the 95% limit of agreement was 0.2150, 0.2146, 0.2046, and 0.2189 logMAR for noise 1, noise 2, noise 3, and noise 4, respectively, indicating that visual acuity of noise 3 definition criterion, i.e., the mean amplitude at a broad frequency band except for the target frequency and its harmonic frequencies, showed the best performance. This study recommended noise definition criterion 3 of the mean amplitude at a broad frequency band to calculate the noise level baseline in the linear extrapolation of SSVEP-based visual acuity assessment.

Filter bank temporally local multivariate synchronization index for SSVEP-based BCI.

BACKGROUND: Multivariate synchronization index (MSI) has been successfully applied for frequency detection in steady state visual evoked potential (SSVEP) based brain-computer interface (BCI) systems. However, the standard MSI algorithm and its variants cannot simultaneously take full advantage of the time-local structure and the harmonic components in SSVEP signals, which are both crucial for frequency detection performance. To overcome the limitation, we propose a novel filter bank temporally local MSI (FBTMSI) algorithm to further improve SSVEP frequency detection accuracy. The method explicitly utilizes the temporal information of signal for covariance matrix estimation and employs filter bank decomposition to exploits SSVEP-related harmonic components. RESULTS: We employed the cross-validation strategy on the public Benchmark dataset to optimize the parameters and evaluate the performance of the FBTMSI algorithm. Experimental results show that FBTMSI outperforms the standard MSI, temporally local MSI (TMSI) and filter bank driven MSI (FBMSI) algorithms across multiple experimental settings. In the case of data length of one second, the average accuracy of FBTMSI is 9.85% and 3.15% higher than that of the FBMSI and the TMSI, respectively. CONCLUSIONS: The promising results demonstrate the effectiveness of the FBTMSI algorithm for frequency recognition and show its potential in SSVEP-based BCI applications.

A Convolutional Neural Network for SSVEP Identification by Using a Few-Channel EEG.

The application of wearable electroencephalogram (EEG) devices is growing in brain-computer interfaces (BCI) owing to their good wearability and portability. Compared with conventional devices, wearable devices typically support fewer EEG channels. Devices with few-channel EEGs have been proven to be available for steady-state visual evoked potential (SSVEP)-based BCI. However, fewer-channel EEGs can cause the BCI performance to decrease. To address this issue, an attention-based complex spectrum-convolutional neural network (atten-CCNN) is proposed in this study, which combines a CNN with a squeeze-and-excitation block and uses the spectrum of the EEG signal as the input. The proposed model was assessed on a wearable 40-class dataset and a public 12-class dataset under subject-independent and subject-dependent conditions. The results show that whether using a three-channel EEG or single-channel EEG for SSVEP identification, atten-CCNN outperformed the baseline models, indicating that the new model can effectively enhance the performance of SSVEP-BCI with few-channel EEGs. Therefore, this SSVEP identification algorithm based on a few-channel EEG is particularly suitable for use with wearable EEG devices.

An SSVEP-based BCI with 112 targets using frequency spatial multiplexing.

Objective.Brain-computer interface (BCI) systems with large directly accessible instruction sets are one of the difficulties in BCI research. Research to achieve high target resolution (⩾100) has not yet entered a rapid development stage, which contradicts the application requirements. Steady-state visual evoked potential (SSVEP) based BCIs have an advantage in terms of the number of targets, but the competitive mechanism between the target stimulus and its neighboring stimuli is a key challenge that prevents the target resolution from being improved significantly.Approach.In this paper, we reverse the competitive mechanism and propose a frequency spatial multiplexing method to produce more targets with limited frequencies. In the proposed paradigm, we replicated each flicker stimulus as a 2 × 2 matrix and arrange the matrices of all frequencies in a tiled fashion to form the interaction interface. With different arrangements, we designed and tested three example paradigms with different layouts. Further we designed a graph neural network that distinguishes between targets of the same frequency by recognizing the different electroencephalography (EEG) response distribution patterns evoked by each target and its neighboring targets.Main results.Extensive experiment studies employing eleven subjects have been performed to verify the validity of the proposed method. The average classification accuracies in the offline validation experiments for the three paradigms are 89.16%, 91.38%, and 87.90%, with information transfer rates (ITR) of 51.66, 53.96, and 50.55 bits/min, respectively.Significance.This study utilized the positional relationship between stimuli and did not circumvent the competing response problem. Therefore, other state-of-the-art methods focusing on enhancing the efficiency of SSVEP detection can be used as a basis for the present method to achieve very promising improvements.

Multi-information improves the performance of CCA-based SSVEP classification.

The target recognition algorithm based on canonical correlation analysis (CCA) has been widely used in steady-state visual evoked potential (SSVEP)-based brain-computer interfaces. To reduce visual fatigue and improve the information transfer rate (ITR), how to improve the accuracy of algorithms within a short time window has become one of the main problems at present. There were filter bank CCA (FBCCA), individual template CCA (ITCCA), and temporally local CCA (TCCA), which improve the CCA algorithm from different aspects.This paper proposed to consider individual, frequency, and time information at the same time, so as to extract features more effectively. A comparison of the various methods was performed using benchmark dataset. Classification accuracy and ITR were used for performance evaluation. In the different extensions of CCA, the method incorporating the above three kinds of information simultaneously achieved the best performance within a short time window. This study explores the effect of using a variety of information to improve the CCA algorithm.

In-Car Environment Control Using an SSVEP-Based Brain-Computer Interface with Visual Stimuli Presented on Head-Up Display: Performance Comparison with a Button-Press Interface.

Controlling the in-car environment, including temperature and ventilation, is necessary for a comfortable driving experience. However, it often distracts the driver's attention, potentially causing critical car accidents. In the present study, we implemented an in-car environment control system utilizing a brain-computer interface (BCI) based on steady-state visual evoked potential (SSVEP). In the experiment, four visual stimuli were displayed on a laboratory-made head-up display (HUD). This allowed the participants to control the in-car environment by simply staring at a target visual stimulus, i.e., without pressing a button or averting their eyes from the front. The driving performances in two realistic driving tests-obstacle avoidance and car-following tests-were then compared between the manual control condition and SSVEP-BCI control condition using a driving simulator. In the obstacle avoidance driving test, where participants needed to stop the car when obstacles suddenly appeared, the participants showed significantly shorter response time (1.42 ± 0.26 s) in the SSVEP-BCI control condition than in the manual control condition (1.79 ± 0.27 s). No-response rate, defined as the ratio of obstacles that the participants did not react to, was also significantly lower in the SSVEP-BCI control condition (4.6 ± 14.7%) than in the manual control condition (20.5 ± 25.2%). In the car-following driving test, where the participants were instructed to follow a preceding car that runs at a sinusoidally changing speed, the participants showed significantly lower speed difference with the preceding car in the SSVEP-BCI control condition (15.65 ± 7.04 km/h) than in the manual control condition (19.54 ± 11.51 km/h). The in-car environment control system using SSVEP-based BCI showed a possibility that might contribute to safer driving by keeping the driver's focus on the front and thereby enhancing the overall driving performance.

Dynamic decomposition graph convolutional neural network for SSVEP-based brain-computer interface.

The SSVEP-based paradigm serves as a prevalent approach in the realm of brain-computer interface (BCI). However, the processing of multi-channel electroencephalogram (EEG) data introduces challenges due to its non-Euclidean characteristic, necessitating methodologies that account for inter-channel topological relations. In this paper, we introduce the Dynamic Decomposition Graph Convolutional Neural Network (DDGCNN) designed for the classification of SSVEP EEG signals. Our approach incorporates layerwise dynamic graphs to address the oversmoothing issue in Graph Convolutional Networks (GCNs), employing a dense connection mechanism to mitigate the gradient vanishing problem. Furthermore, we enhance the traditional linear transformation inherent in GCNs with graph dynamic fusion, thereby elevating feature extraction and adaptive aggregation capabilities. Our experimental results demonstrate the effectiveness of proposed approach in learning and extracting features from EEG topological structure. The results shown that DDGCNN outperforms other state-of-the-art (SOTA) algorithms reported on two datasets (Dataset 1: 54 subjects, 4 targets, 2 sessions; Dataset 2: 35 subjects, 40 targets). Additionally, we showcase the implementation of DDGCNN in the context of synchronized BCI robotic fish control. This work represents a significant advancement in the field of EEG signal processing for SSVEP-based BCIs. Our proposed method processes SSVEP time domain signals directly as an end-to-end system, making it easy to deploy. The code is available at https://github.com/zshubin/DDGCNN.

Fatigue factors and fatigue indices in SSVEP-based brain-computer interfaces: a systematic review and meta-analysis.

Background: Fatigue is a serious challenge when applying a steady-state visual evoked potential (SSVEP)-based brain-computer interfaces (BCIs) in the real world. Many researchers have used quantitative indices to study the effect of visual stimuli on fatigue. According to a wide range of studies in fatigue analysis, there are contradictions and inconsistencies in the behavior of fatigue indicators. New method: In this study, for the first time, a systematic review and meta-analysis were performed on fatigue indices and fatigue caused by stimulation paradigm. We queried three scientific search engines for studies published between 2000 and 2022. The inclusion criteria were papers investigating mental and visual fatigue from performing a visual task using electroencephalogram (EEG) signals. Results: Attractiveness and variation are the most effective ways to reduce BCI fatigue. Therefore, zoom motion, Newton's ring motion, and cue patterns reduce fatigue. While the color of the cue could effectively reduce fatigue, its shape and background had no effect on fatigue. Additionally, the questionnaire and quantitative indicators such as frequency indices, signal-to-noise ratio (SNR), SSVEP amplitude, and multiscale entropy were utilized to assess fatigue. Meta-analysis indicated that when a person is fatigued, the spectrum amplitude of alpha, theta, and α+θ/ß increase significantly, while SNR and SSVEP amplitude decrease significantly. Conclusion: The outcomes of this study can be used to design more optimal stimulation protocols that cause less fatigue. Moreover, the level of fatigue can be quantitatively assessed with indicators without the participant's self-reports.

Almost free of calibration for SSVEP-based brain-computer interfaces.

Objective. Steady-state visual evoked potential (SSVEP)-based brain-computer interface (BCI) is a promising technology that can achieve high information transfer rate (ITR) with supervised algorithms such as ensemble task-related component analysis (eTRCA) and task-discriminant component analysis (TDCA). However, training individual models requires a tedious and time-consuming calibration process, which hinders the real-life use of SSVEP-BCIs. A recent data augmentation method, called source aliasing matrix estimation (SAME), can generate new EEG samples from a few calibration trials. But SAME does not exploit the information across stimuli as well as only reduces the number of calibration trials per command, so it still has some limitations.Approach. This study proposes an extended version of SAME, called multi-stimulus SAME (msSAME), which exploits the similarity of the aliasing matrix across frequencies to enhance the performance of SSVEP-BCI with insufficient calibration trials. We also propose a semi-supervised approach based on msSAME that can further reduce the number of SSVEP frequencies needed for calibration. We evaluate our method on two public datasets, Benchmark and BETA, and an online experiment.Main results. The results show that msSAME outperforms SAME for both eTRCA and TDCA on the public datasets. Moreover, the semi-supervised msSAME-based method achieves comparable performance to the fully calibrated methods and outperforms the conventional free-calibrated methods. Remarkably, our method only needs 24 s to calibrate 40 targets in the online experiment and achieves an average ITR of 213.8 bits min-1with a peak of 242.6 bits min-1.Significance. This study significantly reduces the calibration effort for individual SSVEP-BCIs, which is beneficial for developing practical plug-and-play SSVEP-BCIs.

Decoding emotion from high-frequency steady state visual evoked potential (SSVEP).

BACKGROUND: Steady-state visual evoked potential (SSVEP) by flickering sensory stimuli has been widely applied in the brain-machine interface (BMI). Yet, it remains largely unexplored whether affective information could be decoded from the signal of SSVEP, especially from the frequencies higher than the critical flicker frequency (an upper-frequency limit one can see the flicker). NEW METHOD: Participants fixated on visual stimuli presented at 60 Hz above the critical flicker frequency. The stimuli were pictures with different affective valance (positive, neutral, negative) in distinctive semantic categories (human, animal, scene). SSVEP entrainment in the brain evoked by the flickering stimuli at 60 Hz was used to decode the affective and semantic information. RESULTS: During the presentation of stimuli (1 s), the affective valance could be decoded from the SSVEP signals at 60 Hz, while the semantic categories could not. In contrast, neither affective nor semantic information could be decoded from the brain signal one second before the onset of stimuli. COMPARISON WITH EXISTING METHOD(S): Previous studies focused mainly on EEG activity tagged at frequencies lower than the critical flickering frequency and investigated whether the affective valence of stimuli drew participants' attention. The current study was the first to use SSVEP signals from high-frequency (60 Hz) above the critical flickering frequency to decode affective information from stimuli. The high-frequency flickering was invisible and thus substantially reduced the fatigue of participants. CONCLUSIONS: We found that affective information could be decoded from high-frequency SSVEP and the current finding could be added to designing affective BMI in the future.

TRCA-Net: using TRCA filters to boost the SSVEP classification with convolutional neural network.

Objective.The steady-state visual evoked potential (SSVEP)-based brain-computer interface has received extensive attention in research due to its simple system, less training data, and high information transfer rate. There are currently two prominent methods dominating the classification of SSVEP signals. One is the knowledge-based task-related component analysis (TRCA) method, whose core idea is to find the spatial filters by maximizing the inter-trial covariance. The other is the deep learning-based approach, which directly learns a classification model from data. However, how to integrate the two methods to achieve better performance has not been studied before.Approach.In this study, we develop a novel algorithm named TRCA-Net (TRCA-Net) to enhance SSVEP signal classification, which enjoys the advantages of both the knowledge-based method and the deep model. Specifically, the proposed TRCA-Net first performs TRCA to obtain spatial filters, which extract task-related components of data. Then the TRCA-filtered features from different filters are rearranged as new multi-channel signals for a deep convolutional neural network (CNN) for classification. Introducing the TRCA filters to a deep learning-based approach improves the signal-to-noise ratio of input data, hence benefiting the deep learning model.Main results.We evaluate the performance of TRCA-Net using two publicly available large-scale benchmark datasets, and the results demonstrate the effectiveness of TRCA-Net. Additionally, offline and online experiments separately testing ten and five subjects further validate the robustness of TRCA-Net. Further, we conduct ablation studies on different CNN backbones and demonstrate that our approach can be transplanted into other CNN models to boost their performance.Significance.The proposed approach is believed to have a promising potential for SSVEP classification and promote its practical applications in communication and control. The code is available athttps://github.com/Sungden/TRCA-Net.

Dataset Evaluation Method and Application for Performance Testing of SSVEP-BCI Decoding Algorithm.

Steady-state visual evoked potential (SSVEP)-based brain-computer interface (BCI) systems have been extensively researched over the past two decades, and multiple sets of standard datasets have been published and widely used. However, there are differences in sample distribution and collection equipment across different datasets, and there is a lack of a unified evaluation method. Most new SSVEP decoding algorithms are tested based on self-collected data or offline performance verification using one or two previous datasets, which can lead to performance differences when used in actual application scenarios. To address these issues, this paper proposed a SSVEP dataset evaluation method and analyzed six datasets with frequency and phase modulation paradigms to form an SSVEP algorithm evaluation dataset system. Finally, based on the above datasets, performance tests were carried out on the four existing SSVEP decoding algorithms. The findings reveal that the performance of the same algorithm varies significantly when tested on diverse datasets. Substantial performance variations were observed among subjects, ranging from the best-performing to the worst-performing. The above results demonstrate that the SSVEP dataset evaluation method can integrate six datasets to form a SSVEP algorithm performance testing dataset system. This system can test and verify the SSVEP decoding algorithm from different perspectives such as different subjects, different environments, and different equipment, which is helpful for the research of new SSVEP decoding algorithms and has significant reference value for other BCI application fields.

Effects of Background Music on Mental Fatigue in Steady-State Visually Evoked Potential-Based BCIs.

As a widely used brain-computer interface (BCI) paradigm, steady-state visually evoked potential (SSVEP)-based BCIs have the advantages of high information transfer rates, high tolerance for artifacts, and robust performance across diverse users. However, the incidence of mental fatigue from prolonged, repetitive stimulation is a critical issue for SSVEP-based BCIs. Music is often used as a convenient, non-invasive means of relieving mental fatigue. This study investigates the compensatory effect of music on mental fatigue through the introduction of different modes of background music in long-duration, SSVEP-BCI tasks. Changes in electroencephalography power index, SSVEP amplitude, and signal-to-noise ratio were used to assess participants' mental fatigue. The study's results show that the introduction of exciting background music to the SSVEP-BCI task was effective in relieving participants' mental fatigue. In addition, for continuous SSVEP-BCI tasks, a combination of musical modes that used soothing background music during the rest interval phase proved more effective in reducing users' mental fatigue. This suggests that background music can provide a practical solution for long-duration SSVEP-based BCI implementation.

An online hybrid BCI combining SSVEP and EOG-based eye movements.

Hybrid brain-computer interface (hBCI) refers to a system composed of a single-modality BCI and another system. In this paper, we propose an online hybrid BCI combining steady-state visual evoked potential (SSVEP) and eye movements to improve the performance of BCI systems. Twenty buttons corresponding to 20 characters are evenly distributed in the five regions of the GUI and flash at the same time to arouse SSVEP. At the end of the flash, the buttons in the four regions move in different directions, and the subject continues to stare at the target with eyes to generate the corresponding eye movements. The CCA method and FBCCA method were used to detect SSVEP, and the electrooculography (EOG) waveform was used to detect eye movements. Based on the EOG features, this paper proposes a decision-making method based on SSVEP and EOG, which can further improve the performance of the hybrid BCI system. Ten healthy students took part in our experiment, and the average accuracy and information transfer rate of the system were 94.75% and 108.63 bits/min, respectively.

A high-speed hybrid brain-computer interface with more than 200 targets.

Objective. Brain-computer interfaces (BCIs) have recently made significant strides in expanding their instruction set, which has attracted wide attention from researchers. The number of targets and commands is a key indicator of how well BCIs can decode the brain's intentions. No studies have reported a BCI system with over 200 targets.Approach. This study developed the first high-speed BCI system with up to 216 targets that were encoded by a combination of electroencephalography features, including P300, motion visual evoked potential (mVEP), and steady-state visual evoked potential (SSVEP). Specifically, the hybrid BCI paradigm used the time-frequency division multiple access strategy to elaborately tag targets with P300 and mVEP of different time windows, along with SSVEP of different frequencies. The hybrid features were then decoded by task-discriminant component analysis and linear discriminant analysis. Ten subjects participated in the offline and online cued-guided spelling experiments. Other ten subjects took part in online free-spelling experiments.Main results.The offline results showed that the mVEP and P300 components were prominent in the central, parietal, and occipital regions, while the most distinct SSVEP feature was in the occipital region. The online cued-guided spelling and free-spelling results showed that the proposed BCI system achieved an average accuracy of 85.37% ± 7.49% and 86.00% ± 5.98% for the 216-target classification, resulting in an average information transfer rate (ITR) of 302.83 ± 39.20 bits min-1and 204.47 ± 37.56 bits min-1, respectively. Notably, the peak ITR could reach up to 367.83 bits min-1.Significance.This study developed the first high-speed BCI system with more than 200 targets, which holds promise for extending BCI's application scenarios.

EEG-controlled tele-grasping for undefined objects.

This paper presents a teleoperation system of robot grasping for undefined objects based on a real-time EEG (Electroencephalography) measurement and shared autonomy. When grasping an undefined object in an unstructured environment, real-time human decision is necessary since fully autonomous grasping may not handle uncertain situations. The proposed system allows involvement of a wide range of human decisions throughout the entire grasping procedure, including 3D movement of the gripper, selecting proper grasping posture, and adjusting the amount of grip force. These multiple decision-making procedures of the human operator have been implemented with six flickering blocks for steady-state visually evoked potentials (SSVEP) by dividing the grasping task into predefined substeps. Each substep consists of approaching the object, selecting posture and grip force, grasping, transporting to the desired position, and releasing. The graphical user interface (GUI) displays the current substep and simple symbols beside each flickering block for quick understanding. The tele-grasping of various objects by using real-time human decisions of selecting among four possible postures and three levels of grip force has been demonstrated. This system can be adapted to other sequential EEG-controlled teleoperation tasks that require complex human decisions.