Traditional rehabilitation strategies become difficult in the chronic phase stage of stroke prognosis. Brain–computer interface (BCI) combined with external devices may improve motor function in chronic stroke patients, but it lacks comprehensive assessments of neurological changes regarding functional rehabilitation. This study aimed to comprehensively and quantitatively investigate the changes in brain activity induced by BCI–FES training in patients with chronic stroke. We analyzed the EEG of two groups of patients with chronic stroke, one group received functional electrical stimulation (FES) rehabilitation training (FES group) and the other group received BCI combined with FES training (BCI–FES group). We constructed functional networks in both groups of patients based on direct directed transfer function (dDTF) and assessed the changes in brain activity using graph theory analysis. The results of this study can be summarized as follows: (i) after rehabilitation training, the Fugl–Meyer assessment scale (FMA) score was significantly improved in the BCI–FES group (p < 0.05), and there was no significant difference in the FES group. (ii) Both the global and local graph theory measures of the brain network of patients with chronic stroke in the BCI–FES group were improved after rehabilitation training. (iii) The node strength in the contralesional hemisphere and central region of patients in the BCI–FES group was significantly higher than that in the FES group after the intervention (p < 0.05), and a significant increase in the node strength of C4 in the contralesional sensorimotor cortex region could be observed in the BCI–FES group (p < 0.05). These results suggest that BCI–FES rehabilitation training can induce clinically significant improvements in motor function of patients with chronic stroke. It can improve the functional integration and functional separation of brain networks and boost compensatory activity in the contralesional hemisphere to a certain extent. The findings of our study may provide new insights into understanding the plastic changes of brain activity in patients with chronic stroke induced by BCI–FES rehabilitation training.

Aiming at solving the problems of low flexibility, poor internal extension, and chopstick effect in most laparoscopic surgical robots, this letter presents a flexible tendon-driven continuum surgical manipulator with eight degrees of freedom, called FIORA. The manipulator is composed of three independent flexible segments in series, and each flexible segment includes 12 spherical joints made of aluminum alloy backbone. The manipulator is driven by twelve tendons and has good flexibility and rigidity. The compact actuation unit can meet the requirements of force and position control for each tendon,and provide two degrees of freedom for the manipulator to move forward and rotate. Considering the shape-position relationship of the continuum, a kinematic modeling method based on piecewise constant curvature model is proposed, which can solve the problems of accurate modeling and fast decoupling. Analyzing and comparing similar researches, the manipulator shows excellent working range and flexibility. Experiments verified the accuracy of the kinematics model and the good operating performance of the manipulator.

Objective. Brain–computer interface (BCI) based on motor imaging electroencephalogram (MI-EEG) can be useful in a natural interaction system. In this paper, a new framework is proposed to solve the MI-EEG binary classification problem. Approach. Electrophysiological source imaging (ESI) technology is used to solve the influence of volume conduction effect and improve spatial resolution. Continuous wavelet transform and best time of interest (TOI) are combined to extract the optimal discriminant spatial-frequency features. Finally, a convolutional neural network with seven convolution layers is used to classify the features. In addition, we also validated several new data augment methods to solve the problem of small data sets and reduce network over-fitting. Main results. The model achieved an average classification accuracy of 93.2% and 95.4% on the BCI Competition III IVa and high-gamma data sets, which is better than most of the published advanced algorithms. By selecting the best TOI for each subject, the classification accuracy rate increased by about 2%. The effects of four data augment methods on the classification results were also verified. Among them, the noise addition and overlap methods are better than the other two, and the classification accuracy is improved by at least 4%. On the contrary, the rotation and flip data augment methods reduced the classification accuracy. Significance. Decoding MI tasks can benefit from combing the ESI technology and the data augment technology, which is used to solve the problem of low spatial resolution and small samples of EEG signals, respectively. Based on the results, the model proposed has higher accuracy and application potential in the task of MI-EEG binary classification.

Objective. Multi-channel electroencephalogram (EEG) technology in brain–computer interface (BCI) research offers the advantage of enhanced spatial resolution and system performance. However, this also implies that more time is needed in the data processing stage, which is not conducive to the rapid response of BCI. Hence, it is a necessary and challenging task to reduce the number of EEG channels while maintaining decoding effectiveness. Approach. In this paper, we propose a local optimization method based on the Fisher score for within-subject EEG channel selection. Initially, we extract the common spatial pattern characteristics of EEG signals in different bands, calculate Fisher scores for each channel based on these characteristics, and rank them accordingly. Subsequently, we employ a local optimization method to finalize the channel selection. Main results. On the BCI Competition IV Dataset IIa, our method selects an average of 11 channels across four bands, achieving an average accuracy of 79.37%. This represents a 6.52% improvement compared to using the full set of 22 channels. On our self-collected dataset, our method similarly achieves a significant improvement of 24.20% with less than half of the channels, resulting in an average accuracy of 76.95%. Significance. This research explores the importance of channel combinations in channel selection tasks and reveals that appropriately combining channels can further enhance the quality of channel selection. The results indicate that the model selected a small number of channels with higher accuracy in two-class motor imagery EEG classification tasks. Additionally, it improves the portability of BCI systems through channel selection and combinations, offering the potential for the development of portable BCI systems.

Flaccid paralysis in the upper extremity is a severe motor impairment after stroke, which exists for weeks, months, or even years. Electroacupuncture treatment is one of the most widely used TCM therapeutic interventions for poststroke flaccid paralysis. However, the response to electroacupuncture in different durations of flaccid stage poststroke as well as in the topological configuration of the cortical network remains unclear. The objectives of this study are to explore the disruption of the cortical network in patients in different durations of flaccid stage and observe dynamic network reorganization during and after electroacupuncture. Resting-state networks were constructed from 18 subjects with flaccid upper extremity by partial directed coherence (PDC) analysis of multichannel EEG. They were allocated to three groups according to time after flaccid paralysis: the short-duration group (those with flaccidity for less than two months), the medium-duration group (those with flaccidity between two months and six months), and the long-duration group (those with flaccidity over six months). Compared with short-duration flaccid subjects, weakened effective connectivity was presented in medium-duration and long-duration groups before electroacupuncture. The long-duration group has no response in the cortical network during electroacupuncture. The global network measures of EEG data (sPDC, mPDC, and $N$ ) indicated that there was no significant difference among the three groups. These results suggested that the network connectivity reduced and weakly responded to electroacupuncture in patients with flaccid paralysis for over six months. These findings may help us to modulate the formulation of electroacupuncture treatment according to different durations of the flaccid upper extremity.