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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)
Department机器人学研究室
Source PublicationIEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
ISSN0278-0046
2015
Volume62Issue:7Pages:4267-4275
Indexed BySCI ; EI
EI Accession number20152200891793
WOS IDWOS:000354945400028
Contribution Rank1
Funding OrganizationNational Natural Science Foundation of China [61273355, 61273356, 61035005]
KeywordClosed-loop Estimation Continuous Joint Motion Electromyography (Emg) Muscle Model
AbstractA 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.
Language英语
WOS HeadingsScience & Technology ; Technology
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic ; Instruments & Instrumentation
WOS KeywordESTIMATE MUSCLE FORCES ; MYOELECTRIC CONTROL ; CLASSIFICATION ; LIMB ; EXOSKELETON ; INTERFACE ; MOMENTS ; ELECTROMYOGRAPHY ; PROSTHESES ; SIGNAL
WOS Research AreaAutomation & Control Systems ; Engineering ; Instruments & Instrumentation
Citation statistics
Cited Times:24[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/16224
Collection机器人学研究室
Corresponding AuthorHan JD(韩建达)
Affiliation1.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
Recommended Citation
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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