Table 2.
Data sessions and training the closed-loop decoding algorithm
| S no. | Day | Task | D no. | DOF | OL blocks (trials) | CL blocks (trials)a | CL training time (min) | Figure | Notes |
|---|---|---|---|---|---|---|---|---|---|
| 1 | 2395 | CL finger decoding | 1 | 4 | 2 (200) | 7 (467) | 24.3 | 1, 3, ED 3, ED 4 | |
| 2 | 2400 | CL finger decoding | 2 | 4 | 2 (200) | 3 (180) | 9.8 | 1, 3, ED 3, ED 4 | |
| 3 | 2402 | CL finger decoding | 3 | 4 | 2 (200) | 5 (252) | 14.1 | 1, 3, ED 3–5 | |
| 3b | +5 (250) | 16.3 | ED 5 | ||||||
| 4 | 2407 | CL finger decoding | 4 | 2 | 2 (200) | 2 (100) | 5.9 | 1, 3, ED 3, ED 4 | |
| 5 | 2409 | CL finger decoding | 5 | 4 | 2 (200) | 9 (450) | 25.7 | 1, 3, ED 3–5 | |
| 6 | 2 | 2 (200) | 2 (100) | 11.1 | 1, 3, ED 3,ED 4 | ||||
| 6 | 2423 | CL finger decoding | 7 | 4 | 2 (200) | 12 (585) | 35.8 | 1–3, ED 1, ED 3–5 | Open-loop data were used for the confusion plots in Extended Data Fig. 1. Closed-loop data were used in Figs. 2–4. |
| 7b | +2 (100) | 5.5 | 2, ED 5 | ||||||
| 8 | 2 | 2 (200) | 7 (297) | 20.2 | 1, ED 3, ED 4 | Attempted to overtrain the decoder by ReFIT training it over many closed-loop blocks after 100% of trials were completed | |||
| 8b | +3 (150) | 5.1 | 2, 3, ED 5 | Includes 1 block (50 trials) using the 4D decoder | |||||
| 7 | 2430 | CL finger decoding | 9 | 4 | 2 (200) | 3 (150) | 8.2 | 1, ED 3, ED 4 | |
| 9b | +2 (100) | 5.1 | 2, ED 5 | ||||||
| 9c | +1 (50) | 2.5 | 2, ED 5 | ||||||
| 9d | +7 (331) | 16.8 | 1–3ED 5 | Used in Fig. 3 for more trials (than earlier blocks) | |||||
| 9e | +1 (50) | 2.0 | 1–3, ED 5 | Used in Fig. 3 for more trials (than earlier blocks) | |||||
| 10 | 2 | 1 (100) | 1 (50) | 1.5 | 2, 3, ED 5 | Used in Fig. 3 for more trials (than earlier blocks) | |||
| 10b | +1 (50) | 1.5 | 2, 3,ED 5 | Used in Fig. 3 for more trials (than earlier blocks) | |||||
| 10c | +1 (50) | 2.0 | 2a, 3 | Used in Fig. 3 for more trials (than earlier blocks) | |||||
| 8 | 2520 | QC obstacle course | 11 | 4 | 2 (200) | 3 (150) | 8.3 | ||
| 11b | +4 (200) | 10.3 | 4 | ||||||
| 11c | +2 (100) | 5.8 | |||||||
| 11d | +2 (100) | 4.7 | |||||||
| 9 | 2569 | QC random rings | 12 | 4 | 2 (200) | 6 (269) | 20.4 | Open-loop blocks were performed using common average referencing, and closed-loop blocks used linear regression referencing |
CL, closed-loop; CL training time, time to complete the closed-loop training blocks; D no., decoder number; ED, Extended Data Fig.; OL, open-loop; OL blocks required 5 min per 100 trials; QC, quadcopter; S, session.
a+, additional training blocks and trials.