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A State-Space EMG Model for the Estimation of Continuous Joint Movements
Han JD(韩建达); Ding QC(丁其川); Xiong AB(熊安斌); Zhao XG(赵新刚)
作者部门机器人学研究室
关键词Closed-loop Estimation Continuous Joint Motion Electromyography (Emg) Muscle Model
发表期刊IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
ISSN0278-0046
2015
卷号62期号:7页码:4267-4275
收录类别SCI ; EI
EI收录号20152200891793
WOS记录号WOS:000354945400028
产权排序1
资助机构National Natural Science Foundation of China [61273355, 61273356, 61035005]
摘要A state-space electromyography (EMG) model is developed for continuous motion estimation of human limb in this paper. While the general Hill-based muscle model (HMM) estimates only joint torque from EMG signals in an "open-loop" form, we integrate the forward dynamics of human joint movement into the HMM, and such an extended HMM can be used to estimate the joint motion states directly. EMG features are developed to construct measurement equations for the extended HMM to form a state-space model. With the state-space HMM, a normal closed-loop prediction-correction approach such as the Kalman-type algorithm can be used to estimate the continuous joint movement from EMG signals, where the measurement equation is used to reject model uncertainties and external disturbances. Moreover, we propose a new normalization approach for EMG signals for the purpose of rejecting the dependence of the motion estimation on varying external loads. Comprehensive experiments are conducted on the human elbow joint, and the improvements of the proposed methods are verified by the comparison of the EMG-based estimation and the inertial measurement unit measurements.
语种英语
WOS标题词Science & Technology ; Technology
WOS类目Automation & Control Systems ; Engineering, Electrical & Electronic ; Instruments & Instrumentation
关键词[WOS]ESTIMATE MUSCLE FORCES ; MYOELECTRIC CONTROL ; CLASSIFICATION ; LIMB ; EXOSKELETON ; INTERFACE ; MOMENTS ; ELECTROMYOGRAPHY ; PROSTHESES ; SIGNAL
WOS研究方向Automation & Control Systems ; Engineering ; Instruments & Instrumentation
引用统计
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/16224
专题机器人学研究室
通讯作者Han JD(韩建达)
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
2.University of Chinese Academy of Sciences, Beijing, 100049, China
推荐引用方式
GB/T 7714
Han JD,Ding QC,Xiong AB,et al. A State-Space EMG Model for the Estimation of Continuous Joint Movements[J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,2015,62(7):4267-4275.
APA Han JD,Ding QC,Xiong AB,&Zhao XG.(2015).A State-Space EMG Model for the Estimation of Continuous Joint Movements.IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,62(7),4267-4275.
MLA Han JD,et al."A State-Space EMG Model for the Estimation of Continuous Joint Movements".IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 62.7(2015):4267-4275.
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