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In recent years, multivariate synchronization index (MSI) algorithm, as a novel frequency detection method, has attracted increasing attentions in the study of brain-computer interfaces (BCIs) based on steady state visual evoked potential (SSVEP). However, MSI algorithm is hard to fully exploit SSVEPrelated harmonic components in the electroencephalogram (EEG), which limits the application of MSI algorithm in BCI systems. In this paper, we propose a novel filter bank-driven MSI algorithm (FBMSI) to overcome the limitation and further improve the accuracy of SSVEP recognition. We evaluate the efficacy of the FBMSI method by developing a 6-command SSVEP-NAO robot system with extensive experimental analyses. An offline experimental study is first performed with EEG collected from nine subjects to investigate the effects of varying parameters on the model performance. Offline results show that the proposed method has achieved a stable improvement effect. We further conduct an online experiment with six subjects to assess the efficacy of the developed FBMSI algorithm in a real-time BCI application. The online experimental results show that the FBMSI algorithm yields a promising average accuracy of 83.56% using a data length of even only one second, which was 12.26% higher than the standard MSI algorithm. These extensive experimental results confirmed the effectiveness of the FBMSI algorithm in SSVEP recognition and demonstrated its potential application in the development of improved BCI systems.

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