Denoising of EEG Signals in Brain–Computer Interfaces Using Extended Kalman-Filtered Recurrent High-Order Neural Networks

Denoising of EEG Signals in Brain–Computer Interfaces

Authors

Keywords:

Electroencephalography, brain–computer interface, Recurrent High Order Neural Network, EKF, real-time signal processing, noise reduction

Abstract

This paper presents a Recurrent High-Order Neural Network (RHONN) for EEG denoising in brain–computer interface (BCI) applications. Trained online using the Extended Kalman Filter (EKF), the proposed approach effectively suppresses EOG, EMG, and ECG artifacts under non-stationary conditions while preserving EEG temporal structure. Experimental results show that RHONN achieves performance comparable to or better than conventional filters and deep learning models, including MLPs, RNNs, GANs, and autoencoders. A key advantage of the RHONN--EKF framework is its very low computational cost. By modeling each EEG channel with a single high-order neuron, the method reduces computational load by more than 90% compared to state-of-the-art models, making it suitable for real-time, resource-constrained BCI systems and consistent with Green AI principles.

Downloads

Download data is not yet available.

Author Biographies

Enrique Martínez, Tecnologico Nacional de México

Enrique Martinez-Madrid received the B.Sc. degree in Electronic Engineering from the Tecnológico Nacional de México, Mexico, in 2022, and the M.Sc. degree in Electronic Engineering from the División de Estudios de Posgrado e Investigación of Tecnológico Nacional de México, Chihuahua, Mexico, in 2026. He is currently pursuing the Ph.D. degree in Electronic Engineering at the Tecnológico Nacional de México, Chihuahua, Mexico. He is also a Professor teaching engineering and technology-related courses at the Universidad Tecnológica de Chihuahua, Chihuahua, Mexico.

His current research interests include electrical signal processing, artificial intelligence, data science, embedded systems, power electronics, control systems, and adaptive methods for intelligent systems.

 

Jesus Alfonso Medrano-Hermosillo, Tecnologico Nacional de Méxcio

Jesús A. Medrano-Hermosillo received the Ph.D. degree in Electrical Engineering, with a specialization in Automatic Control, from the Center for Research and Advanced Studies of the National Polytechnic Institute (CINVESTAV-IPN), Mexico. He is currently a Professor-Researcher at the Tecnológico Nacional de México, where he contributes to the electrical and electronic signal processing research line within the Master of Science in Electronic Engineering and Doctorate in Science in Electronic Engineering programs. His research interests include control of electromechanical systems, energy conversion, intelligent systems optimization, artificial intelligence, high-order neural networks, and advanced control methodologies. His work also encompasses projects involving electric vehicles, mobile robots, quadrotors, articulated robotic systems, precision agriculture, neuro-inspired systems, and machine learning applications for dynamic systems.

He has authored and co-authored numerous publications in international conferences and high-impact JCR-indexed journals. He also serves as an editor and reviewer for international peer-reviewed journals and scientific publications in the fields of control engineering, artificial intelligence, robotics, and intelligent systems. Furthermore, he has participated as an organizer and reviewer in internationally recognized conferences related to robotics, pattern recognition, intelligent systems, power electronics, and advanced control applications. Dr. Medrano-Hermosillo is a member of the Mexican National System of Researchers (SNII) and the State Research System of Chihuahua, actively contributing to research, technological development, and the education of highly qualified human resources.

Juan A. Ramírez Quintana, Tecnologico Nacional de Méxcio

Juan A. Ramírez Quintana received the B.Sc., M.Sc., and Ph.D. degrees in Electronic Engineering in 2004, 2007, and 2014, respectively. From 2008 to 2011, he worked as a researcher and teaching assistant at several academic institutions. He is currently a Professor-Researcher at the Tecnológico Nacional de México, Chihuahua Campus, where he serves as the Director of the Pattern Vision and Robotics (PVR) Laboratory. His research interests include computer vision, digital signal processing, computational intelligence, machine learning, pattern recognition, and intelligent systems. He has led and participated in numerous research and technological development projects and has contributed to the training of undergraduate and graduate students in engineering and computer science. Dr. Ramírez Quintana is the author and co-author of patents and more than 70 scientific publications, including journal articles, conference proceedings, and book chapters. He is a member of the Mexican National System of Researchers (SNII) and the Mexican Academy of Computing (AMEXCOMP). His academic and research activities focus on the development of intelligent methodologies for image analysis, autonomous systems, artificial intelligence, and advanced applications of machine learning.

Ivan Ramon Urbina Leos, Tecnologico Nacional de México

Iván R. Urbina Leos received the B.Sc. degree in Electronic Engineering from the Tecnológico Nacional de México, Mexico, in 2024. He is currently pursuing the M.Sc. degree in Electronic Engineering at the Tecnológico Nacional de México, Chihuahua, Mexico. In addition, he works professionally at Micron Technology, where he contributes to semiconductor manufacturing and advanced electronic systems. His academic and professional interests include automatic control systems, power electronics, digital systems, embedded systems, and intelligent control methodologies. He is particularly interested in the application of recurrent high-order neural networks (RHONNs), artificial intelligence, and machine learning techniques for electric motor control, system identification, and the optimization of electromechanical systems.

Oscar Javier Suárez Sierra, Universidad de Pamplona

Oscar J. Suarez (Senior Member, IEEE) was born in Pamplona, Colombia. He received the B.S. degree in Electrical Engineering from the Universidad Pontificia Bolivariana, Bucaramanga, Colombia, in 2011, the M.S. degree in Industrial Control from the Universidad de Pamplona, Pamplona, Colombia, in 2015, and the D.Sc. degree in Electrical Engineering from the Center for Research and Advanced Studies of the National Polytechnic Institute (CINVESTAV-IPN), Guadalajara, Mexico, in 2019. He has more than 15 years of experience in teaching and research at universities in Colombia and Mexico. Since 2024, he has been a Professor with the Department of Mechatronics Engineering at the Universidad de Pamplona, Pamplona, Colombia.

Dr. Suarez has authored or co-authored one book and more than 60 scientific publications in international journals and conference proceedings. His research interests include nonlinear control systems, neural networks, artificial intelligence, complex networks, intelligent systems, and advanced control methodologies. He is a Senior Research Fellow recognized by the Ministry of Science, Technology and Innovation of Colombia (Minciencias), serves as the IEEE Computational Intelligence Society (CIS) Colombia Chapter Chair for the 2024–2027 term, and is a Senior Member of the IEEE.

Francisco-Ronay López-Estrada, Tecnologico Nacional de México

Francisco-Ronay López-Estrada received the Ph.D. degree in Automatic Control from the University of Lorraine, France, in 2014. Since 2008, he has been with the Tecnológico Nacional de México, Tuxtla Gutiérrez Campus, where he currently serves as a Professor-Researcher and actively participates in graduate education and research activities. Dr. López-Estrada is a member of the Editorial Boards of the Mathematical and Computational Applications and International Journal of Applied Mathematics and Computer Science journals. He has authored and co-authored more than 70 scientific articles published in JCR-indexed journals, as well as numerous papers presented at international conferences. His research interests include fault diagnosis, fault-tolerant control, linear parameter-varying (LPV) systems, Takagi–Sugeno fuzzy models, robust control, observer design, and advanced monitoring techniques for complex dynamic systems. His work focuses on the development of model-based methodologies and intelligent approaches for the analysis, supervision, and control of engineering systems and industrial applications.

References

• Niedermeyer, E., & da Silva, F. H. Lopes. (2005). Electroencephalography: Basic principles, clinical applications, and related fields. Lippincott Williams & Wilkins. ISBN: 0781751268.

• Wolpaw, J. R. (2013). Brain–computer interfaces. En Handbook of Clinical Neurology (Vol. 110, pp. 67–74). Elsevier. ISBN: 0199921482.

• Hyvärinen, A., & Oja, E. (2000). Independent component analysis: algorithms and applications. Neural Networks, 13(4–5), 411–430. https://doi.org/10.1016/S0893-6080(00)00026-5

• Addison, P. S. (2005). Wavelet transforms and the ECG: a review. Physiological Measurement, 26(5), R155. https://doi.org/10.1088/0967-3334/26/5/R01

• Roy, Y., Banville, H., Albuquerque, I., Gramfort, A., Falk, T. H., & Faubert, J. (2019). Deep learning-based electroencephalography analysis: a systematic review. Journal of Neural Engineering, 16(5), 051001. https://doi.org/10.1088/1741-2552/ab260c

• Alanís García, A. Y. (2004). Entrenamiento de redes neuronales con el filtro de Kalman (Tesis de maestría). Centro de Investigación y de Estudios Avanzados del IPN (CINVESTAV).

• Sánchez, E. N., Alanís, A. Y., & Loukianov, A. G. (2008). Discrete-Time Block Control. Springer. ISBN: 9783540782889.

• Zhang, H., Zhao, M., Wei, C., Mantini, D., Li, Z., & Liu, Q. (2021). EEGdenoiseNet: a benchmark dataset for deep learning solutions of EEG denoising. Journal of Neural Engineering, 18(5), 056057. https://doi.org/10.1088/1741-2552/ac2bf8

• Gordienko, Y., Gordienko, N., Taran, V., Rojbi, A., Telenyk, S., & Stirenko, S. (2025). Effect of natural and synthetic noise data augmentation on physical action classification by brain–computer interface and deep learning. Frontiers in Neuroinformatics, 19, 1521805. https://doi.org/10.3389/fninf.2025.1521805

• Dryden, I. L., & Mardia, K. V. (2016). Statistical shape analysis: with applications in R. John Wiley & Sons. ISBN: 9780470699621.

• An, Y., Lam, H. K., & Ling, S. H. (2022). Auto-denoising for EEG signals using generative adversarial network. Sensors, 22(5), 1750. https://doi.org/10.3390/s22051750

• Xiong, W., Ma, L., & Li, H. (2024). A general dual-pathway network for EEG denoising. Frontiers in Neuroscience, 17, 1258024. https://doi.org/10.3389/fnins.2023.1258024

• Chaddad, A., Wu, Y., Kateb, R., & Bouridane, A. (2023). Electroencephalography signal processing: A comprehensive review and analysis of methods and techniques. Sensors, 23(14), 6434.

• Khosla, A., Khandnor, P., & Chand, T. (2020). A comparative analysis of signal processing and classification methods for different applications based on EEG signals. Biocybernetics and Biomedical Engineering, 40(2), 649–690.

• Saber, M. (2022). Removing powerline interference from EEG signal using optimized FIR filters. Journal of Artificial Intelligence and Metaheuristics, 1(1), 8–19. https://doi.org/10.54216/JAIM.010101

• Felja, M., Bencheqroune, A., Karim, M., & Bennis, G. (2020). Removing artifacts from EEG signal using wavelet transform and conventional filters. WSEAS Transactions on Information Science and Applications, 17, 177–183. https://doi.org/10.37394/23209.2020.17.22

• Kaur, C., Bisht, A., Singh, P., & Joshi, G. (2021). EEG Signal denoising using hybrid approach of Variational Mode Decomposition and wavelets for depression. Biomedical Signal Processing and Control, 65, 102337.

• Yan, W., & Wu, Y. (2022). A time-frequency denoising method for single-channel event-related EEG. Frontiers in Neuroscience, 16, 991136.

• Gajbhiye, P., Tripathy, R. K., Bhattacharyya, A., & Pachori, R. B. (2019). Novel approaches for the removal of motion artifact from EEG recordings. IEEE Sensors Journal, 19(22), 10600–10608. https://doi.org/10.1109/JSEN.2019.2931727

• Noorbasha, S. K., & Sudha, G. F. (2020). Removal of EOG artifacts from single channel EEG—an efficient model combining overlap segmented ASSA and ANC. Biomedical Signal Processing and Control, 60, 101987. https://doi.org/10.1016/j.bspc.2020.101987

• Wang, X., Zhang, H., Tan, J., Xu, Y., Sun, P. Z., Ji, J., Lu, J., Zhu, M., Tong, M. C. F., Mukhopadhyay, S. C., et al. (2023). High-Quality Auditory Brainstem Response Acquisition in Motion via Adaptive Kalman Filtering. IEEE Transactions on Cognitive and Developmental Systems, 16(3), 877–887. https://doi.org/10.1109/TCDS.2023.3308561

• Abutaleb, A., Abdelaleem, H., & Hewedy, K. (2021). Stochastic models for the EEG frequencies. International Journal of Signal Processing, 6.

• Alturki, F. A., AlSharabi, K., Abdurraqeeb, A. M., & Aljalal, M. (2020). EEG signal analysis for diagnosing neurological disorders using discrete wavelet transform and intelligent techniques. Sensors, 20(9), 2505. https://doi.org/10.3390/s20092505

• Nayak, A. B., Shah, A., Maheshwari, S., Anand, V., Chakraborty, S., & Kumar, T. S. (2024). An empirical wavelet transform-based approach for motion artifact removal in electroencephalogram signals. Decision Analytics Journal, 10, 100420. https://doi.org/10.1016/j.dajour.2024.100420

• Luján, M. Á., Jimeno, M. V., Mateo Sotos, J., Ricarte, J. J., & Borja, A. L. (2021). A survey on EEG signal processing techniques and machine learning: Applications to the neurofeedback of autobiographical memory deficits in schizophrenia. Electronics, 10(23), 3037. https://doi.org/10.3390/electronics10233037

• Stalin, S., Roy, V., Shukla, P. K., Zaguia, A., Khan, M. M., Shukla, P. K., & Jain, A. (2021). A Machine Learning-Based Big EEG Data Artifact Detection and Wavelet-Based Removal: An Empirical Approach. Mathematical Problems in Engineering, 2021(1), 2942808. https://doi.org/10.1155/2021/2942808

• Sun, W., Su, Y., Wu, X., & Wu, X. (2020). A novel end-to-end 1D-ResCNN model to remove artifact from EEG signals. Neurocomputing, 404, 108–121. https://doi.org/10.1016/j.neucom.2020.04.029

• Hossain, M. S., Mahmud, S., Khandakar, A., Al-Emadi, N., Chowdhury, F. A., Mahbub, Z. B., Reaz, M. B. I., & Chowdhury, M. E. H. (2023). MultiResUNet3+: A full-scale connected multi-residual UNet model to denoise EOG and EMG artifacts from corrupted EEG signals. Bioengineering, 10(5), 579. https://doi.org/10.3390/bioengineering10050579

• Cai, Y., Meng, Z., & Huang, D. (2025). DHCT-GAN: Improving EEG Signal Quality with a Dual-Branch Hybrid CNN–Transformer Network. Sensors, 25(1), 231. https://doi.org/10.3390/s25010231

• Moody, G. B., & Mark, R. G. (1992). MIT-BIH arrhythmia database. PhysioNet. https://doi.org/10.13026/C2F305

• Pion-Tonachini, L., Kreutz-Delgado, K., & Makeig, S. (2019). ICLabel: An automated EEG independent component classifier, dataset, and website. NeuroImage, 198, 181–197. https://doi.org/10.1016/j.neuroimage.2019.05.026

• Goldberger, A. L., Amaral, L. A. N., Glass, L., Hausdorff, J. M., Ivanov, P. C., Mark, R. G., Mietus, J. E., Moody, G. B., Peng, C.-K., & Stanley, H. E. (2000). PhysioBank, PhysioToolkit, and PhysioNet: components of a new research resource for complex physiologic signals. Circulation, 101(23), e215–e220. https://doi.org/10.1161/01.CIR.101.23.e215

• Cisotto, G., & Chicco, D. (2024). Ten quick tips for clinical EEG data acquisition and signal processing. PeerJ Computer Science, 10, e2256. https://doi.org/10.7717/peerj-cs.2256

• Li, Y., Zeng, W., Dong, W., Han, D., Chen, L., Chen, H., Kang, Z., Gong, S., Yan, H., Siok, W. T., & Wang, N. (2025). A Tale of Single-Channel EEG: Devices, Datasets, Signal Processing, Applications, and Future Directions. IEEE Transactions on Instrumentation and Measurement, 74, 1–20. https://doi.org/10.1109/TIM.2025.3556900

• Xue, Z., Zhang, Y., Li, H., Chen, H., Shen, S., & Du, H. (2024). Instrumentation, Measurement, and Signal Processing in EEG-Based Brain–Computer Interfaces: Situations and Prospects. IEEE Transactions on Instrumentation and Measurement, 73, 1–28. https://doi.org/10.1109/TIM.2024.3417598

• Weng, W., Gu, Y., Guo, S., Ma, Y., Yang, Z., Liu, Y., & Chen, Y. (2025). Self-supervised Learning for Electroencephalogram: A Systematic Survey. ACM Computing Surveys, 57(12), 1–38. https://doi.org/10.1145/3736574

• Li, G., Yuan, Y., Ouyang, D., Zhang, L., Yuan, B., Chang, X., Guo, Z., & Guo, G. (2024). Driver Distraction From the EEG Perspective: A Review. IEEE Sensors Journal, 24(3), 2329–2349. https://doi.org/10.1109/JSEN.2023.3339727

• Sabio, J., Williams, N. S., McArthur, G. M., & Badcock, N. A. (2024). A scoping review on the use of consumer-grade EEG devices for research. PLOS ONE, 19(3), e0291186. https://doi.org/10.1371/journal.pone.0291186

• Sun, Y., Chen, X., Liu, B., Liang, L., Wang, Y., Gao, S., & Gao, X. (2025). Signal acquisition of brain–computer interfaces: A medical-engineering crossover perspective review. Fundamental Research, 5(1), 3–16. https://doi.org/10.1016/j.fmre.2024.04.011

• Erat, K., Şahin, E. B., Doğan, F., Merdanoğlu, N., Akcakaya, A., & Durdu, P. O. (2024). Emotion recognition with EEG-based brain-computer interfaces: a systematic literature review. Multimedia Tools and Applications, 83(33), 79647–79694. https://doi.org/10.1007/s11042-024-18259-z

• Schmierer, T., Li, T., & Li, Y. (2024). Harnessing machine learning for EEG signal analysis: Innovations in depth of anaesthesia assessment. Artificial Intelligence in Medicine, 151, 102869. https://doi.org/10.1016/j.artmed.2024.102869

• Chen, J., Pi, D., Jiang, X., Xu, Y., Chen, Y., & Wang, X. (2024). Denosieformer: A Transformer-Based Approach for Single-Channel EEG Artifact Removal. IEEE Transactions on Instrumentation and Measurement, 73, 1–16. https://doi.org/10.1109/TIM.2023.3341114

• Xing, L., & Casson, A. J. (2024). Deep Autoencoder for Real-Time Single-Channel EEG Cleaning and Its Smartphone Implementation Using TensorFlow Lite With Hardware/Software Acceleration. IEEE Transactions on Biomedical Engineering, 71(11), 3111–3122. https://doi.org/10.1109/TBME.2024.3408331

• Zhao, S., Gao, H., Li, X., Li, H., Wang, Y., Hu, R., Zhang, J., Yao, W., & Li, G. (2024). An outlier detection based two-stage EEG artifact removal method using empirical wavelet transform and canonical correlation analysis. Biomedical Signal Processing and Control, 92, 106022. https://doi.org/10.1016/j.bspc.2024.106022

• Coelli, S., Calcagno, A., Cassani, C. M., Temporiti, F., Reali, P., Gatti, R., Galli, M., & Bianchi, A. M. (2024). Selecting methods for a modular EEG pre-processing pipeline: An objective comparison. Biomedical Signal Processing and Control, 90, 105830. https://doi.org/10.1016/j.bspc.2023.105830

• Cui, H., Li, C., Liu, A., Qian, R., & Chen, X. (2024). A Dual-Branch Interactive Fusion Network to Remove Artifacts From Single-Channel EEG. IEEE Transactions on Instrumentation and Measurement, 73, 1–12. https://doi.org/10.1109/TIM.2023.3342863

• Wang, B., Deng, F., & Jiang, P. (2024). EEGDiR: Electroencephalogram denoising network for temporal information storage and global modeling through Retentive Network. Computers in Biology and Medicine, 177, 108626. https://doi.org/10.1016/j.compbiomed.2024.108626

• Ch Vidyasagar, K. E., Revanth Kumar, K., Anantha Sai, G. N. K., Ruchita, M., & Saikia, M. J. (2024). Signal to Image Conversion and Convolutional Neural Networks for Physiological Signal Processing: A Review. IEEE Access, 12, 66726–66764. https://doi.org/10.1109/ACCESS.2024.3399114

• Caldas, A. S. L., Pereira, E. T., Leite, N. M. N., Oliveira, A. D. B., & Lucena, E. R. (2020). Towards automatic EEG signal denoising by quality metric optimization. En 2020 International Joint Conference on Neural Networks (IJCNN) (pp. 1–7). IEEE. https://doi.org/10.1109/IJCNN48605.2020.9207504

• Zhang, X. (2024). Deep Learning-Based Techniques for Electroencephalogram (EEG) Signal Denoising. Transactions on Computer Science and Intelligent Systems Research, 5, 922–927. https://doi.org/10.62051/rrve8560

• Versaci, M., & La Foresta, F. (2024). EEG Data Analysis Techniques for Precision Removal and Enhanced Alzheimer’s Diagnosis. Signals, 5(2), 343–381. https://doi.org/10.3390/signals5020018

• Chuang, C.-H., Chang, K.-Y., Huang, C.-S., & Bessas, A.-M. (2024). ART: Artifact Removal Transformer for Reconstructing Noise-Free Multichannel EEG Signals. arXiv. https://doi.org/10.48550/ARXIV.2409.07326

• Agarwal, N., Chintha, V. R., Kolli, R. K., Goel, O., & Agarwal, R. (2022). Deep Learning for real time EEG artifact detection in wearables. International Journal for Research Publication and Seminar, 13(5), 402–433. https://doi.org/10.36676/jrps.v13.i5.1510

• Hwaidi, J. F., & Chen, T. M. (2021). A Noise Removal Approach from EEG Recordings Based on Variational Autoencoders. En 2021 13th International Conference on Computer and Automation Engineering (ICCAE) (pp. 19–23). IEEE. https://doi.org/10.1109/ICCAE51876.2021.9426150

• Gabardi, M., Saibene, A., Gasparini, F., Rizzo, D., & Stella, F. A. (2023). A multi-artifact EEG denoising by frequency-based deep learning. arXiv. https://arxiv.org/abs/2310.17335

• Maitin, A. M., Romero Muñoz, J. P., & García-Tejedor, Á. J. (2022). Survey of Machine Learning Techniques in the Analysis of EEG Signals for Parkinson’s Disease. Applied Sciences, 12(14), 6967. https://doi.org/10.3390/app12146967

• Shafiezadeh, S., Duma, G. M., Mento, G., Danieli, A., Antoniazzi, L., Del Popolo Cristaldi, F., Bonanni, P., & Testolin, A. (2023). Methodological issues in evaluating machine learning models for EEG seizure prediction. Applied Sciences, 13(7), 4262. https://doi.org/10.3390/app13074262

• Brophy, E., Redmond, P., Fleury, A., De Vos, M., Boylan, G., & Ward, T. (2022). Denoising EEG signals for real-world BCI applications using GANs. Frontiers in Neuroergonomics, 2, 805573. https://doi.org/10.3389/fnrgo.2021.805573

• Yakoubi, M., Hamdi, R., & Bousbia Salah, M. (2024). Removal noise from EEG signal using unscented Kalman filter to train multi layer perceptron (MLP).

• Lu, W. (2024). A review of EEG noise reduction technology based on DCCRN-LSTM. Theoretical and Natural Science, 58, 182–187. https://doi.org/10.54254/2753-8818/58/20241381

• World Medical Association. (2013). World Medical Association Declaration of Helsinki: Ethical Principles for Medical Research Involving Human Subjects. Adopted at the 64th WMA General Assembly, Fortaleza, Brazil. https://jamanetwork.com/journals/jama/fullarticle/1760318

Published

2026-07-14

How to Cite

López-Estrada, E., Medrano-Hermosillo, . J. A., Ram´ırez-Quintana, J. A., Urbina Leos, I. R. ., Suárez Sierra, O. J., & López-Estrada, F.-R. (2026). Denoising of EEG Signals in Brain–Computer Interfaces Using Extended Kalman-Filtered Recurrent High-Order Neural Networks: Denoising of EEG Signals in Brain–Computer Interfaces . IEEE Latin America Transactions, 24(9), 937–947. Retrieved from https://latamt.ieeer9.org/index.php/transactions/article/view/10557