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Brain-computer interface (BCI) is oriented toward intuitive systems that users can easily operate. Imagined speech and visual imagery are emerging paradigms that can directly convey a user's intention. We investigated the underlying characteristics that affect the decoding performance of these two paradigms. Twenty-two subjects performed imagined speech and visual imagery of twelve words/phrases frequently used for patients' communication. Spectral features were analyzed with thirteen-class classification (including rest class) using EEG filtered in six frequency ranges. In addition, cortical regions relevant to the two paradigms were analyzed by classification using single-channel and pre-defined cortical groups. Furthermore, we analyzed the word properties that affect the decoding performance based on the number of syllables, concrete and abstract concepts, and the correlation between the two paradigms. Finally, we investigated multiclass scalability in both paradigms. The high-frequency band displayed a significantly superior performance to that in the case of any other spectral features in the thirteen-class classification (imagined speech 39.73 ± 5.64%; visual imagery 40.14 ± 4.17%). Furthermore, the performance of Broca's and Wernicke's areas and auditory cortex was found to have improved among the cortical regions in both paradigms. As the number of classes increased, the decoding performance decreased moderately. Moreover, every subject exceeded the confidence level performance, implying the strength of the two paradigms in BCI inefficiency. These two intuitive paradigms were found to be highly effective for multiclass communication systems, having considerable similarities between each other. The results could provide crucial information for improving the decoding performance for practical BCI applications.Recently, practical brain-computer interfaces (BCIs) have been widely investigated for detecting human intentions in real world. However, performance differences still exist between the laboratory and the real world environments. One of the main reasons for such differences comes from the user's unstable physical states (e.g., human movements are not strictly controlled), which produce unexpected signal artifacts. Hence, to minimize the performance degradation of electroencephalography (EEG)-based BCIs, we present a novel artifact removal method named constrained independent component analysis with online learning (cIOL). The cIOL can find and reject the noise-like components related to human body movements (i.e., movement artifacts) in the EEG signals. To obtain movement information, isolated electrodes are used to block electrical signals from the brain using high-resistance materials. We estimate artifacts with movement information using constrained independent component analysis from EEG signals and then extract artifact-free signals using online learning in each sample. In addition, the cIOL is evaluated by signal processing under 16 different experimental conditions (two types of EEG devices × two BCI paradigms × four different walking speeds). The experimental results show that the cIOL has the highest accuracy in both scalp- and ear-EEG, and has the highest signal-to-noise ratio in scalp-EEG among the state-of-the-art methods, except for the case of steady-state visual evoked potential at 2.0 m/s with superposition problem.Transfemoral amputee gait often exhibits compensations due to the lack of ankle push-off power and control over swing foot position using passive prostheses. Powered prostheses can restore this functionality, but their effects on compensatory behaviors, specifically at the residual hip, are not well understood. This paper investigates residual hip compensations through walking experiments with three transfemoral amputees using a low-impedance powered knee-ankle prosthesis compared to their day-to-day passive prosthesis. The powered prosthesis used impedance control during stance for compliant interaction with the ground, a time-based push-off controller to deliver high torque and power, and phase-based trajectory tracking during swing to provide user control over foot placement. Experiments show that when subjects utilized the powered ankle push-off, less mechanical pull-off power was required from the residual hip to progress the limb forward. Overall positive work at the residual hip was reduced for 2 of 3 subjects, and negative work was reduced for all subjects. Moreover, all subjects displayed increased step length, increased propulsive impulses on the prosthetic side, and improved impulse symmetries. Hip circumduction improved for subjects who had previously exhibited this compensation on their passive prosthesis. These improvements in gait, especially reduced residual hip power and work, have the potential to reduce fatigue and overuse injuries in persons with transfemoral amputation.Autonomous brain machine interfaces (BMIs) aim to enable paralyzed people to self-evaluate their movement intention to control external devices. Previous reinforcement learning (RL)-based decoders interpret the mapping between neural activity and movements using the external reward for well-trained subjects, and have not investigated the task learning procedure. The brain has developed a learning mechanism to identify the correct actions that lead to rewards in the new task. This internal guidance can be utilized to replace the external reference to advance BMIs as an autonomous system. In this study, we propose to build an internally rewarded reinforcement learning-based BMI framework using the multi-site recording to demonstrate the autonomous learning ability of the BMI decoder on the new task. We test the model on the neural data collected over multiple days while the rats were learning a new lever discrimination task. The primary motor cortex (M1) and medial prefrontal cortex (mPFC) spikes are interprete works asymptotically as the subjects' behavioral learning progresses. It reveals the potential of endowing BMIs with autonomous task learning ability in the RL framework.We sought to evaluate the effects of the application of torque pulses to the hip and knee joint via a robotic exoskeleton in the context of training propulsion during walking. read more Based on our previous study, we formulated a set of conditions of torque pulses applied to the hip and knee joint associated with changes in push-off posture, a component of propulsion. In this work, we quantified the effects of hip/knee torque pulses on metrics of propulsion, specifically hip extension (HE) and normalized propulsive impulse (NPI), in two experiments. In the first experiment, we exposed 16 participants to sixteen conditions of torque pulses during single strides to observe the immediate effects of pulse application. In the second experiment, we exposed 16 participants to a subset of those conditions for 200 strides to quantify short-term adaptation effects. During pulse application, NPI aligned with the expected modulation of push-off posture, while HE was modulated in the opposite direction. The timing of the applied pulses, early or late stance, was crucial, as the effects were often in the opposite direction when changing timing condition.