Intention Estimation Based Adaptive Unscented Kalman Filter for Online Neural Decoding

Han Wei Ng, Brian Premchand, Kyaw Kyar Toe, Camilo Libedinsky, Rosa So

Abstract: The commonly used fixed discrete Kalman filters (DKF) in neural decoders do not generalize well to the actual relationship between neuronal firing rates and movement intention. This is due to the underlying assumption that the neural activity is linearly related to the output state. They also face the issues of requiring large amount of training datasets to achieve a robust model and a degradation of decoding performance over time. In this paper, an adaptive adjustment is made to the conventional unscented Kalman filter (UKF) via intention estimation. This is done by incorporating a history of newly collected state parameters to develop a new set of model parameters. At each time point, a comparative weighted sum of old and new model parameters using matrix squared sums is used to update the neural decoding model parameters. The effectiveness of the resulting adaptive unscented Kalman filter (AUKF) is compared against the discrete Kalman filter and unscented Kalman filter-based algorithms. The results show that the proposed new algorithm provides higher decoding accuracy and stability while requiring less training data.