Fig. 1

The procedure of our proposed methods. Our proposed method is comprised of four progressive stages of signal processing and machine learning on EEG signals: (1) a filter bank comprising multiple Butterworth band-pass filters to extract frequency features, (2) a CSP algorithm is used to extract spatial features, (3) a sliding window cropping strategy is applied to crop time slices to model the sequential relationships of spatial-frequency features, (4) classification of the spatial-frequency-sequential relationships on time slices by a deep RNN architecture. In the deep RNN architecture, two different memory units, LSTM unit and GRU, are included to compare classification performance and robustness