The paper proposes a novel approach toward EEG-driven position control of a robot arm by utilizing motor imagery, P300 and error-related potentials (ErRP) to align the robot arm with desired target position. In the proposed scheme, the users generate motor imagery signals to control the motion of the robot arm. The P300 waveforms are detected when the user intends to stop the motion of the robot on reaching the goal position. The error potentials are employed as feedback response by the user. On detection of error the control system performs the necessary corrections on the robot arm. Here, an AdaBoost-Support Vector Machine (SVM) classifier is used to decode the 4-class motor imagery and an SVM is used to decode the presence of P300 and ErRP waveforms. The average steady-state error, peak overshoot and settling time obtained for our proposed approach is 0.045, 2.8% and 44 s, respectively, and the average rate of reaching the target is 95%. The results obtained for the proposed control scheme make it suitable for designs of prosthetics in rehabilitative applications.

Brain Computer interfaces (BCI) has immense potentials to improve human lifestyle including that of the disabled. BCI has possible applications in the next generation human-computer, human-robot and prosthetic/assistive devices for rehabilitation. The dataset used for this study has been obtained from the BCI competition-II 2003 databank provided by the University of Technology, Graz. After pre-processing of the signals from their electrodes (C3 & C4), the wavelet coefficients, Power Spectral Density of the alpha and the central beta band and the average power of the respective bands have been employed as features for classification. This paper presents a comparative study of different classification methods including linear discriminant analysis (LDA), Quadratic discriminant analysis (QDA), k-nearest neighbor (KNN) algorithm, linear support vector machine (SVM), radial basis function (RBF) SVM and naive Bayesian classifiers algorithms in differentiating the raw EEG data obtained, into their associative left/right hand movements. Performance of left/right hand classification is studied using both original features and reduced features. The feature reduction here has been performed using Principal component Analysis (PCA). It is as observed that RBF kernelised SVM classifier indicates the highest performance accuracy of 82.14% with both original and reduced feature set. However, experimental results further envisage that all the other classification techniques provide better classification accuracy for reduced data set in comparison to the original data. It is also noted that the KNN classifier improves the classification accuracy by 5% when reduced features are used instead of the original.

Brain Computer Interface (BCI) improve the lifestyle of the normal people by enhancing their performance levels. It also provides a way of communication for the disabled people with their surrounding who are otherwise unable to physically communicate. BCI can be used to control computers, robots, prosthetic devices and other assistive technologies for rehabilitation. The dataset used for this study has been obtained from the BCI competition II 2003 databank provided by the University of Technology, Graz. After pre-processing of the signals from their electrodes (C3 & C4), the wavelet coefficients, Power Spectral Density of the alpha and the central beta band and the average power of the respective bands have been employed as features for classification. In one of the approaches we fed all the extracted features individually and in the other approach we considered all features together and submitted them to LDA, QDA and KNN algorithms distinctly to classify left and right limb movement. The aim of this study is to analyze the performance of linear discriminant analysis (LDA), quadratic discriminant analysis (QDA) and K-nearest neighbor (KNN) algorithms in differentiating the raw EEG data obtained, into their associative movement, namely, left-right movement. Also the importance of the feature vectors selected is highlighted in this study. The total set to feature vector comprising all the features (i.e., wavelet coefficients, PSD and average band power estimate) performed better with the classifiers without much deviation in the classification accuracy, i.e., 80%, 80% and 75.71% with LDA, QDA and KNN respectively. Wavelet coefficients performed best with QDA classifier with an accuracy of 80%. PSD vector resulted in superior performance of 81.43% with both QDA and KNN. Average band power estimate vector showed highest accuracy of 84.29% with KNN algorithm. Our approach presented in this paper is quite simple, easy to execute and is validated robustly with a large dataset.

The last decade has witnessed extensive research in the field of healthcare services and their technological upgradation. To be more specific, the Internet of Things (IoT) has shown potential application in connecting various medical devices, sensors, and healthcare professionals to provide quality medical services in a remote location. This has improved patient safety, reduced healthcare costs, enhanced the accessibility of healthcare services, and increased operational efficiency in the healthcare industry. The current study gives an up-to-date summary of the potential healthcare applications of IoT- (HIoT-) based technologies. Herein, the advancement of the application of the HIoT has been reported from the perspective of enabling technologies, healthcare services, and applications in solving various healthcare issues. Moreover, potential challenges and issues in the HIoT system are also discussed. In sum, the current study provides a comprehensive source of information regarding the different fields of application of HIoT intending to help future researchers, who have the interest to work and make advancements in the field to gain insight into the topic.

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Brain-computer interfacing is an emerging field of research where signals extracted from the human brain are used for decision making and generation of control signals. Selection of the right classifier to detect the mental states from electroencephalography (EEG) signal is an open area of research because of the signal's non-stationary and Ergodic nature. Though neural network based classifiers, like Adaptive Neural Fuzzy Inference System (ANFIS), act efficiently, to deal with the uncertainties involved in EEG signals, we have introduced interval type-2 fuzzy system in the fray to improve its uncertainty handling. Also, real-time scenarios require a classifier to detect more than two mental states. Thus, a multi-class discriminating algorithm based on the fusion of interval type-2 fuzzy logic and ANFIS, is introduced in this paper. Two variants of this algorithm have been developed on the basis of One-Vs-All and One-Vs-One methods. Both the variants have been tested on an experiment involving the real-time control of robot arm, where both the variants of the proposed classifier, produces an average success rate of reaching a target to 65% and 70% respectively. The result shows the competitiveness of our algorithm over other standard ones in the domain of non-stationary and uncertain signal data classification.

Due to the non-stationary nature of electroencephalography (EEG) signals, a Brain-computer Interfacing (BCI) system requires frequent calibration. This leads to intersession inconsistency which is one of the main reason that impedes the widespread adoption of non-invasive BCI for realworld applications, especially in rehabilitation and medicine. Domain adaptation and deep learning-based techniques have gained relevance in designing calibration-free BCIs to solve this issue. EEGNet is one such deep net architecture that has been successful in performing inter-subject classification, albeit on data from healthy participants. This is the first paper, which tests the performance of EEGNet on data obtained from 10 hemiparetic stroke patients while performing left and right motor imagery tasks. Results obtained on implementing EEGNet have been promising and it has comparably good performance as from expensive feature engineering-based approaches for both withinsubject and cross-subject classification. The less dependency on feature engineering techniques and the ability to extract generalized features for inter-subject classification makes EEGNet a promising deep-learning architecture for developing practically feasible solutions for BCI based neuro-rehabilitation applications.

This paper proposes a novel brain-machine interfacing (BMI) paradigm for control of a multijoint redundant robot system. Here, the user would determine the direction of end-point movement of a 3-degrees of freedom (DOF) robot arm using motor imagery electroencephalography signal with coadaptive decoder (adaptivity between the user and the decoder) while a synergetic motor learning algorithm manages a peripheral redundancy in multi-DOF joints toward energy optimality through tacit learning. As in human motor control, torque control paradigm is employed for a robot to be adaptive to the given physical environment. The dynamic condition of the robot arm is taken into consideration by the learning algorithm. Thus, the user needs to only think about the end-point movement of the robot arm, which allows simultaneous multijoints control by BMI. The support vector machine-based decoder designed in this paper is adaptive to the changing mental state of the user. Online experiments reveals that the users successfully reach their targets with an average decoder accuracy of over 75% in different end-point load conditions. Index Terms-Brain-machine interfacing (BMI), co-adaptive decoder, joint redundancy, multijoint robot, synergetic learning control, tacit learning. I. INTRODUCTION A S OF today, brain-machine interfacing (BMI) [or braincomputer interfacing (BCI)] is one of the fastest growing areas of research that provides a unique course of communication between a human and a machine (or device) without any neuro-muscular intervention [1]. BMI was initially conceived to provide rehabilitative and assistive solutions [2], [3] to patients suffering from neuromuscular degenerative diseases, such as amyotropic lateral sclerosis, cervical spinal injury, paralysis, or amputee [4].