1. Source-based CP BCI robotic arm control.
Source-based CP BCI robotic arm control. (A) Robotic arm CP BCI setup. Users controlled the 2D continuous movement of a 7–degree of freedom robotic arm to track a randomly moving target on a computer screen. (B) Depiction of the CP edge repulsion feature (in contrast to the edge wrapping feature; Fig. 2A) used to accommodate the physical limitations of the robotic arm. (C) Group-level feature maps for the horizontal (top row) and vertical (bottom row) control dimensions projected onto a template brain. (D) Group-level 2D MSE for the various control conditions. Bars indicate mean + SEM. (E) Box-and-whisker plots for the group-level squared tracking correlation (ρ2) values for the horizontal (left) and vertical (right) dimensions during 2D CP control for the various control conditions. Blue lines indicate the medians, tops and bottoms of the boxes indicate the 25th and 75 percentiles, and the top and bottom whiskers indicate the respective minimum and maximum values. Control conditions include virtual cursor (white), hidden cursor (gray), and robotic arm (black). The red dotted line indicates chance level. Statistical analysis using a repeated-measures two-way ANOVA (n = 6 per condition) with main effects of time and control condition.
B. J. Edelman et al. Sci. Robotics 2019;4:eaaw6844
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