Real-Time Decoding of Movement Onset and Offset for Brain-Controlled Rehabilitation Exoskeleton

• URL: http://arxiv.org/abs/2603.16825v1
• Date: Tue, 17 Mar 2026 17:32:43 GMT
• Title: Real-Time Decoding of Movement Onset and Offset for Brain-Controlled Rehabilitation Exoskeleton
• Abstract summary: We implement online, dual-state motor imagery control of an upper-limb exoskeleton, enabling goal-directed reaches.<n>Group-mean hit rates were 61.5% for onset and 64.5% for offset.<n>We introduce a class-agnostic fixation-based recentering method that tracks drift without sampling command classes.
• Score: 2.6846496844461036
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: 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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