A multi-modal modified feedback self-paced BCI to control the gait of an avatar

Brain-computer interfaces (BCIs) have been used to control the gait of a virtual self-avatar with a proposed application in the field of gait rehabilitation. Some limitations of existing systems are: (a) some systems use mental imagery (MI) of movements other than gait; (b) most systems allow the user to take single steps or to walk but do not allow both; (c) most function in a single BCI mode (cue-paced or self-paced). Objective. The objective of this study was to develop a high performance multi-modal BCI to control single steps and forward walking of an immersive virtual reality avatar. Approach. This system used MI of these actions, in cue-paced and self-paced modes. Twenty healthy participants participated in this study, which was comprised of four sessions across four different days. They were cued to imagine a single step forward with their right or left foot, or to imagine walking forward. They were instructed to reach a target by using the MI of multiple steps (self-paced switch-control mode) or by maintaining MI of forward walking (continuous-control mode). The movement of the avatar was controlled by two calibrated regularized linear discriminate analysis classifiers that used the mu power spectral density over the foot area of the motor cortex as a feature. The classifiers were retrained after every session. For a subset of the trials, positive modified feedback (MDF) was presented to half of the participants, where the avatar moved correctly regardless of the classification of the participants' MI. The performance of the BCI was computed on each day, using different control modes. Main results. All participants were able to operate the BCI. Their average offline performance, after retraining the classifiers was 86.0 +/- 6.1%, showing that the recalibration of the classifiers enhanced the offline performance of the BCI (p < 0.01). The average online performance was 85.9 +/- 8.4% showing that MDF enhanced BCI performance (p = 0.001). The average performance was 83% at self-paced switch control and 92% at continuous control mode. Significance. This study reports on a first BCI to use motor imagery of the lower limbs in order to control the gait of an avatar with different control modes and different control commands (single steps or forward walking). BCI performance is increased in a novel way by combining three different performance enhancement techniques, resulting in a single high performance and multi-modal BCI system. This study also showed that the improvements due to the effects of MDF lasted for more than one session.