Adding supernumerary robotic limbs (SRLs) to humans and controlling them directly through the brain are main goals for movement augmentation. However, it remains uncertain whether neural patterns different from the traditional inherent limbs motor imagery (MI) can be extracted, which is essential for high-dimensional control of external devices. In this work, we established a MI neo-framework consisting of novel supernumerary robotic sixth-finger MI (SRF-MI) and traditional right-hand MI (RH-MI) paradigms and validated the distinctness of EEG response patterns between two MI tasks for the first time. Twenty-four subjects were recruited for this experiment involving three mental tasks. Event-related spectral perturbation was adopted to supply details about event-related desynchronization (ERD). Activation region, intensity and response time (RT) of ERD were compared between SRF-MI and RH-MI tasks. Three classical classification algorithms were utilized to verify the separability between different mental tasks. And genetic algorithm aims to select optimal combination of channels for neo-framework. A bilateral sensorimotor and prefrontal modulation was found during the SRF-MI task, whereas in RH-MI only contralateral sensorimotor modulation was exhibited. The novel SRF-MI paradigm enhanced ERD intensity by a maximum of 117% in prefrontal area and 188% in the ipsilateral somatosensory-association cortex. And, a global decrease of RT was exhibited during SRF-MI tasks compared to RH-MI. Classification results indicate well separable performance among different mental tasks (88.1% maximum for 2-class and 88.2% maximum for 3-class). This work demonstrated the difference between the SRF-MI and RH-MI paradigms, widening the control bandwidth of the BCI system.

Humans obtain characteristic information such as texture and weight of external objects, relying on the brain's integration and classification of tactile information; however, the decoding mechanism of multi-level tactile information is relatively elusive from the temporal sequence. In this paper, nonvariant frequency, along with the variant pulse width of electrotactile stimulus, was performed to generate multi-level pressure sensation. Event-related potentials (ERPs) were measured to investigate the mechanism of whole temporal tactile processing. Five ERP components, containing P100-N140-P200-N200-P300, were observed. By establishing the relationship between stimulation parameters and ERP component amplitudes, we found the following: (1) P200 is the most significant component for distinguishing multi-level tactile sensations; (2) P300 is correlated well with the subjective judgment of tactile sensation. The temporal sequence of brain topographies was implemented to clarify the spatiotemporal characteristics of the tactile process, which conformed to the serial processing model in neurophysiology and cortical network response area described by fMRI. Our results can help further clarify the mechanism of tactile sequential processing, which can be applied to improve the tactile BCI performance, sensory enhancement, and clinical diagnosis for doctors to evaluate the tactile process disorders by examining the temporal ERP components.

How to design a robotic hand for reproducing the move characteristics of human hand joints is a big challenge in robotics. In this paper, we present an approach to determine the actuation configuration based on the statistical results of hand joint angle in different grasps. A relationship between the basic statistical metrics and actuation configuration strategies is built. In this case, a novel actuation configuration is proposed and the joints of four fingers are arranged into five actuation modules. For the mechanical implementation, the motion of human four finger joints is decomposed to proportion motion, differential motion and chain proportion motion, mechanically implemented by pulley, planetary gear differential module and gear transmission chain. Finally, the implemented mechanism is embedded in palm, and the mechanical implementation to the human hand move characteristics is verified by the measured joint angles of the robotic hand when actuators separately move along PC1 and PC2. Meanwhile, the robotic hand can grasp different objects with a versatile grasp function.