用脑电实现康复外骨骼的实时启停控制，提升神经可塑性训练精准度。
Real-Time Decoding of Movement Onset and Offset for Brain-Controlled Rehabilitation Exoskeleton
- 通过脑电信号直接控制外骨骼启停，实现意向驱动的康复训练。
- 启停准确率分别达61.5%和64.5%，在真实运动干扰下仍稳定有效。
- 提出新校准方法，显著降低信号漂移影响，适合临床实用化部署。
机器人辅助治疗可在神经损伤后提供高剂量、任务特异性的训练，但多数系统仅作用于肢体层面，间接激活受损神经回路，限制了真正响应意图、靶向神经可塑性的康复效果。本文通过在线双状态运动想象控制上肢外骨骼，实现了非侵入式脑电（EEG）对起始与终止动作的直接控制。8名受试者使用脑电启动辅助并自主中止机器人运动轨迹。在两次在线会话中，群体平均启停命中率分别为61.5%和64.5%，证明在设备噪声与被动手臂运动干扰下仍能可靠传递启停指令。方法上，揭示了基于任务重校准导致的系统性类别偏差，并提出一种无需采样指令类别的类无关固定点重校准方法，可在不破坏类别结构的前提下追踪信号漂移。该方法显著提升阈值无关可分性（启停AUC分别提升+56%, p=0.0117；+34%, p=0.0251），并减少日间及日内偏差。研究结果推动离线解码向实际意图驱动的康复外骨骼控制过渡，实现与神经可塑性目标对齐的精准时序辅助，支持未来临床转化。
原文摘要 · Abstract (English)
Robot-assisted therapy can deliver high-dose, task-specific training after neurologic injury, but most systems act primarily at the limb level-engaging the impaired neural circuits only indirectly-which remains a key barrier to truly contingent, neuroplasticity-targeted rehabilitation. We address this gap by implementing online, dual-state motor imagery control of an upper-limb exoskeleton, enabling goal-directed reaches to be both initiated and terminated directly from non-invasive EEG. Eight participants used EEG to initiate assistance and then volitionally halt the robot mid-trajectory. Across two online sessions, group-mean hit rates were 61.5% for onset and 64.5% for offset, demonstrating reliable start-stop command delivery despite instrumental noise and passive arm motion. Methodologically, we reveal a systematic, class-driven bias induced by common task-based recentering using an asymmetric margin diagnostic, and we introduce a class-agnostic fixation-based recentering method that tracks drift without sampling command classes while preserving class geometry. This substantially improves threshold-free separability (AUC gains: onset +56%, p = 0.0117; offset +34%, p = 0.0251) and reduces bias within and across days. Together, these results help bridge offline decoding and practical, intention-driven start-stop control of a rehabilitation exoskeleton, enabling precisely timed, contingent assistance aligned with neuroplasticity goals while supporting future clinical translation.
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