Copilot-Assisted Second-Thought Framework for Brain-to-Robot Hand Motion Decoding

Brain-machine interfaces (BMIs) can assist individuals with limited mobility, such as stroke survivors or amputees. One of the key challenges in developing BMIs is expanding their usability and control, which can be achieved by accurately decoding multiple kinematic and kinetic parameters. To address this, we propose three regression models: partial least squares regressor, multilayered perceptron, and attention based regressor, to decode multiple movement parameters from EEG signals. We evaluated these models on the WAY EEG GAL dataset, focusing on their performance under subject specific and subject independent conditions with two strategies: a single model for all parameters and a baseline with separate models for each parameter. Among all regressors, the attention based regressor achieved the best performance, with an $R^2$ of 0.8 and a latency of 29.2 milliseconds, demonstrating significant improvement in simultaneous multi parameter decoding. However, its performance dropped for single parameter decoding. The multi layered perceptron showed more consistent but lower accuracy across both decoding types ($R^2$ = 0.49). These findings highlight the potential of attention based models for real time multi command BMI systems and contribute to the development of more intuitive control devices.

Brain-computer interfaces (BCIs) provide a hands-free control modality for mobile robotics, yet decoding user intent during real-world navigation remains challenging. This work presents a brain-robot control framework for offline decoding of driving commands during robotic rover operation. A 4WD Rover Pro platform was remotely operated by 12 participants who navigated a predefined route using a joystick, executing the commands forward, reverse, left, right, and stop. Electroencephalogram (EEG) signals were recorded with a 16-channel OpenBCI cap and aligned with motor actions at Delta = 0 ms and future prediction horizons (Delta > 0 ms). After preprocessing, several deep learning models were benchmarked, including convolutional neural networks, recurrent neural networks, and Transformer architectures. ShallowConvNet achieved the highest performance for both action prediction and intent prediction. By combining real-world robotic control with multi-horizon EEG intention decoding, this study introduces a reproducible benchmark and reveals key design insights for predictive deep learning-based BCI systems.

Intracranial electrocorticography (ECoG) offers high-signal-to-noise access to cortical activity for brain-computer interfaces, yet limited per-patient data has led most prior work to rely on small, subject-specific decoders that neglect information shared across patients. We investigate whether large pretrained scalp-EEG foundation models (EEG FMs) can be adapted to ECoG, enabling cross-patient learning and competitive decoding performance while calibrating to a held-out patient in 10-30 minutes on a single GPU. We introduce CORTEG, a cross-modality transfer framework that combines a pretrained EEG FM backbone, an electrode-aware KNNSoftFourier spatial adapter, a dual-stream tokenizer for low-frequency and high-gamma activity, and a leave-one-subject-out fine-tuning strategy. We evaluate CORTEG on two challenging regression tasks: public finger trajectory regression (n=9) and private audio envelope regression (n=16). CORTEG matches or exceeds the strongest task-specific baselines on both tasks: it reaches the highest mean correlation among compared methods on the public finger benchmark (gain not statistically significant on n=9 subjects), with larger and statistically significant gains on the audio task and in low-data per-patient calibration. Feature analyses align with neurophysiology, and latent manifolds capture low-dimensional finger-movement structure. CORTEG provides systematic evidence that scalp-EEG pretraining can be repurposed for ECoG decoding, enabling data-efficient intracranial BCIs that can adapt to new patients.