It is important for rehabilitation exoskeletons to move with a spatiotemporal motion patterns that well match the upper-limb joint kinematic characteristics. However, few efforts have been made to manipulate the motion control based on human kinematic synergies. This work analyzed the spatiotemporal kinematic synergies of right arm reaching movement and investigated their potential usage in upper limb assistive exoskeleton motion planning. Ten right-handed subjects were asked to reach 10 target button locations placed on a cardboard in front. The kinematic data of right arm were tracked by a motion capture system. Angular velocities over time for shoulder flexion/extension, shoulder abduction/adduction, shoulder internal/external rotation, and elbow flexion/extension were computed. Principal component analysis (PCA) was used to derive kinematic synergies from the reaching task for each subject. We found that the first four synergies can explain more than 94% of the variance. Moreover, the joint coordination patterns were dynamically regulated over time as the number of kinematic synergy (PC) increased. The synergies with different order played different roles in reaching movement. Our results indicated that the low-order synergies represented the overall trend of motion patterns, while the high-order synergies described the fine motions at specific moving phases. A 4-DoF upper limb assistive exoskeleton was modeled in SolidWorks to simulate assistive exoskeleton movement pattern based on kinematic synergy. An exoskeleton Denavit-Hartenberg (D-H) model was established to estimate the exoskeleton moving pattern in reaching tasks. The results further confirmed that kinematic synergies could be used for exoskeleton motion planning, and different principal components contributed to the motion trajectory and end-point accuracy to some extent. The findings of this study may provide novel but simplified strategies for the development of rehabilitation and assistive robotic systems approximating the motion pattern of natural upper-limb motor function.

Currently, surface electromyography (sEMG) features of the forearm multi-tendon muscles are widely used in gesture recognition, however, there are few investigations on the inherent physiological mechanism of muscle synergies. We aimed to study whether the muscle synergies could be used for gesture recognition. Five healthy participants executed five gestures of daily life (pinch, fist, open hand, grip, and extension) and the sEMG activity was acquired from six forearm muscles. A non-negative matrix factorization (NMF) algorithm was employed to decompose the pre-treated six-channel sEMG data to obtain the muscle synergy matrixes, in which the weights of each muscle channel determined the feature set for hand gesture classification. The results showed that the synergistic features of forearm muscles could be successfully clustered in the feature space, which enabled hand gestures to be recognized with high efficiency. By augmenting the number of participants, the mean recognition rate remained at more than 96% and reflected high robustness. We showed that muscle synergies can be well applied to gesture recognition.

Brain-computer interface (BCI)-based stroke rehabilitation is an emerging field in which different studies have reported variable outcomes. Among the BCI paradigms, motor imagery (MI)-based closed-loop BCI is still the main pattern in rehabilitation training. It can estimate a patient’ motor intention and provide corresponding feedback. However, the individual difference in the ability to generate event-related desynchronization (ERD) and the low classification accuracy of the multi-class scenario restrict the application of MI-based BCI. In the current study, a novel online action observation (AO)–based BCI was proposed. The visual stimuli of four types of hand movements were designed to simultaneously induce steady-state motion visual evoked potential (SSMVEP) in the occipital region and to activate the sensorimotor region. Task-related component analysis was performed to identify the SSMVEP. Results showed that the amplitude of the induced frequency in the SSMVEP had a negative relationship with the stimulus frequency. The classification accuracy in the four-class scenario reached 72.81 ± 13.55% within 2.5s. Importantly, the AO-based closed-loop BCI, which provided visual feedback based on the SSMVEP, could enhance ERD compared with AO-alone. The increased attentiveness might be one key factor for the enhancement of the ERD in the designed AO-based BCI. In summary, the proposed AO-based BCI provides a new insight for BCI-based rehabilitation.

Neural activation induced by upper extremity robot-assisted training (UE-RAT) helps characterize adaptive changes in the brains of poststroke patients, revealing differences in recovery potential among patients. However, it remains unclear whether these task-related neural activities can effectively predict rehabilitation outcomes. In this study, we utilized functional near-infrared spectroscopy (fNIRS) to measure participants’ neural activity profiles during resting and UE-RAT tasks and developed models via machine learning to verify whether task-related functional brain responses can predict the recovery of upper limb motor function. Cortical activation and brain network functional connectivity (FC) in brain regions such as the superior frontal cortex, premotor cortex, and primary motor cortex were measured using fNIRS in 82 subacute stroke patients in the resting state and during UE-RAT. The Fugl-Meyer Upper Extremity Assessment Scale (FMA-UE) was chosen as the index for assessing upper extremity motor function, and clinical information such as demographic and neurophysiological data was also collected. Robust features were screened in 100 randomly divided training sets using the least absolute shrinkage and selection operator (LASSO) method. Based on the selected robust features, machine learning algorithms were used to develop clinical models, fNIRS models, and combined models that integrated both clinical and fNIRS features. Finally, Shapley Additive Explanations (SHAP) was applied to interpret the prediction process and analyze key predictive factors. Compared to the resting state, task-related FC is a more robust feature for modeling, with screening frequencies above 90%. The combined models built using artificial neural networks (ANNs) and support vector machines (SVMs) significantly outperformed the other algorithms, with an average AUC of 0.861 (± 0.087) for the ANN and an average correlation coefficient (r) of 0.860 (± 0.069) for the SVM. Furthermore, predictive factor analysis of the models revealed that FC measured during tasks is the most important factor for predicting upper limb motor function. This study confirmed that UE-RAT-induced FC can serve as an important predictor of rehabilitation, especially when combined with clinical information, further enhancing the accuracy of model predictions. These findings provide new insights for the early prediction of patients’ recovery potential, which may contribute to personalized rehabilitation decisions.