File:Towards-a-Naturalistic-Brain-Machine-Interface-Hybrid-Torque-and-Position-Control-Allows-pone.0052286.s002.ogv

English: Hybrid BMI task with torque and position control offers natural movement profiles. Neural control of the virtual arm with set to 20. The actual arm was locked to 25° at shoulder angle and 85° at elbow angle to discourage contribution of neural signatures of any proprioceptive inputs towards the task execution. The subject “closes” the BMI loop by means of visual feedback. Here, the virtual arm is visible by the subject as a diamond-shaped end-point visual feedback cursor on the computer screen. The visual feedback of the real arm is turned off (i.e., white circle is invisible to the subject). Big or small cursor size represents high or low load on the virtual BMI arm. For the purposes of this video only, the cursor color is changed to yellow when the subject looks away from the screen. Actual task keeps the same light blue cursor color throughout the task. Other conventions are same as noted in Video S1. Note the resemblance in the movement trajectories between the closed-loop BMI control presented in this video and the open-loop predictions shown in Video S1.