Maha Nawaz

Abdul Basit, Maha Nawaz, Saim Rehman et al.

Efficient control of prosthetic limbs via non-invasive brain-computer interfaces (BCIs) requires advanced EEG processing, including pre-filtering, feature extraction, and action prediction, performed in real time on edge AI hardware. Achieving this on resource-constrained devices presents challenges in balancing model complexity, computational efficiency, and latency. We present CognitiveArm, an EEG-driven, brain-controlled prosthetic system implemented on embedded AI hardware, achieving real-time operation without compromising accuracy. The system integrates BrainFlow, an open-source library for EEG data acquisition and streaming, with optimized deep learning (DL) models for precise brain signal classification. Using evolutionary search, we identify Pareto-optimal DL configurations through hyperparameter tuning, optimizer analysis, and window selection, analyzed individually and in ensemble configurations. We apply model compression techniques such as pruning and quantization to optimize models for embedded deployment, balancing efficiency and accuracy. We collected an EEG dataset and designed an annotation pipeline enabling precise labeling of brain signals corresponding to specific intended actions, forming the basis for training our optimized DL models. CognitiveArm also supports voice commands for seamless mode switching, enabling control of the prosthetic arm's 3 degrees of freedom (DoF). Running entirely on embedded hardware, it ensures low latency and real-time responsiveness. A full-scale prototype, interfaced with the OpenBCI UltraCortex Mark IV EEG headset, achieved up to 90% accuracy in classifying three core actions (left, right, idle). Voice integration enables multiplexed, variable movement for everyday tasks (e.g., handshake, cup picking), enhancing real-world performance and demonstrating CognitiveArm's potential for advanced prosthetic control.

Maha Nawaz, Abdul Basit, Muhammad Shafique

Currently, individuals with arm mobility impairments (referred to as "patients") face limited technological solutions due to two key challenges: (1) non-invasive prosthetic devices are often prohibitively expensive and costly to maintain, and (2) invasive solutions require high-risk, costly brain surgery, which can pose a health risk. Therefore, current technological solutions are not accessible for all patients with different financial backgrounds. Toward this, we propose a low-cost technological solution called MindArm, an affordable, non-invasive neuro-driven prosthetic arm system. MindArm employs a deep neural network (DNN) to translate brain signals, captured by low-cost surface electroencephalogram (EEG) electrodes, into prosthetic arm movements. Utilizing an Open Brain Computer Interface and UDP networking for signal processing, the system seamlessly controls arm motion. In the compute module, we run a trained DNN model to interpret filtered micro-voltage brain signals, and then translate them into a prosthetic arm action via serial communication seamlessly. Experimental results from a fully functional prototype show high accuracy across three actions, with 91% for idle/stationary, 85% for handshake, and 84% for cup pickup. The system costs approximately $500-550, including $400 for the EEG headset and $100-150 for motors, 3D printing, and assembly, offering an affordable alternative for mind-controlled prosthetic devices.

Abdul Basit, Maha Nawaz, Muhammad Shafique

Non-invasive brain-computer interfaces (BCIs) have the potential to enable intuitive control of prosthetic limbs for individuals with upper limb amputations. However, existing EEG-based control systems face challenges related to signal noise, classification accuracy, and real-time adaptability. In this work, we present BRAVE, a hybrid EEG and voice-controlled prosthetic system that integrates ensemble learning-based EEG classification with a human-in-the-loop (HITL) correction framework for enhanced responsiveness. Unlike traditional electromyography (EMG)-based prosthetic control, BRAVE aims to interpret EEG-driven motor intent, enabling movement control without reliance on residual muscle activity. To improve classification robustness, BRAVE combines LSTM, CNN, and Random Forest models in an ensemble framework, achieving a classification accuracy of 96% across test subjects. EEG signals are preprocessed using a bandpass filter (0.5-45 Hz), Independent Component Analysis (ICA) for artifact removal, and Common Spatial Pattern (CSP) feature extraction to minimize contamination from electromyographic (EMG) and electrooculographic (EOG) signals. Additionally, BRAVE incorporates automatic speech recognition (ASR) to facilitate intuitive mode switching between different degrees of freedom (DOF) in the prosthetic arm. The system operates in real time, with a response latency of 150 ms, leveraging Lab Streaming Layer (LSL) networking for synchronized data acquisition. The system is evaluated on an in-house fabricated prosthetic arm and on multiple participants highlighting the generalizability across users. The system is optimized for low-power embedded deployment, ensuring practical real-world application beyond high-performance computing environments. Our results indicate that BRAVE offers a promising step towards robust, real-time, non-invasive prosthetic control.