Discrimination of Shoulder Flexion/Extension Motor Imagery Through EEG Spatial Features to Command an Upper Limb Robotic Exoskeleton

  • Ramón Amado Reinoso-LeblanchEmail author
  • Yunier Prieur-Coloma
  • Leondry Mayeta-Revilla
  • Roberto Sagaró-Zamora
  • Denis Delisle-Rodriguez
  • Teodiano Bastos
  • Alberto López-Delis
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 11896)


This work presents a comparison between two methods for spatial feature extraction applied on a system to recognize shoulder flexion/extension motor imagery (SMI) tasks to convey on-line control commands towards a 4 degrees-of-freedom (DoF) upper-limb robotic exoskeleton. Riemannian geometry and Common Spatial Pattern (CSP) are applied on the filtered EEG for spatial feature extraction, which later are used by the Linear Discriminant Analysis (LDA) classifier for motor imagery (MI) recognition. Three bipolar EEG channels were used on six healthy subjects to acquire our database, composed of two classes: rest state and shoulder flexion/extension MI. Our system achieved a mean accuracy (ACC) of 75.12% applying Riemannian, with the highest performance for Subject S01 (ACC = 89.68%, Kappa = 79.37%, true positive rate (TPR) = 87.50%, and FPR < 8.13%). In contrast, for CSP, a mean ACC of 66.29% was achieved. These findings suggest that unsupervised methods for feature extraction, such as Riemannian geometry, can be suitable for shoulder flexion/extension MI to command an upper-limb robotic exoskeleton.


Riemannian geometry Common Spatial Pattern Brain-computer interface Motor imagery Upper limb Robotic exoskeleton Shoulder movement intention 



The authors would like to thank the Medical Biophysics Center (Centro de Biofísica Médica) of Cuba, UFES/Brazil, and the Belgian Development Cooperation, through VLIR-UO (Flemish Interuniversity Council-University Cooperation for Development), in the context of the Institutional University Cooperation program with the University of Oriente for supporting this research.


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Ramón Amado Reinoso-Leblanch
    • 1
    Email author
  • Yunier Prieur-Coloma
    • 1
  • Leondry Mayeta-Revilla
    • 2
  • Roberto Sagaró-Zamora
    • 3
  • Denis Delisle-Rodriguez
    • 4
  • Teodiano Bastos
    • 4
  • Alberto López-Delis
    • 1
  1. 1.Centre of Medical BiophysicsUniversity of OrienteSantiago de CubaCuba
  2. 2.Department of Biomedical EngineeringUniversity of OrienteSantiago de CubaCuba
  3. 3.Faculty of Mechanical EngineeringUniversity of OrienteSantiago de CubaCuba
  4. 4.Postgraduate Program in Electrical EngineeringFederal University of Espirito SantoVitoriaBrazil

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