A Novel EMG-driven State Space Model for the Estimation of Continuous Joint Movements

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	A Novel EMG-driven State Space Model for the Estimation of Continuous Joint Movements
	Ding QC(丁其川); Xiong AB(熊安斌); Zhao XG(赵新刚); Han JD(韩建达)
	2011
会议名称	IEEE International Conference on Systems, Man and Cybernetics (SMC)
会议日期	October 9-12, 2011
会议地点	Anchorage, AK
关键词	EMG hill-based muscle model joint angular movement state space model
页码	2891-2897
中文摘要	Electromyography (EMG) has been widely used as control commands for prosthesis, powered exoskeletons and rehabilitative robots. In this paper, an EMG-driven state space model is developed to estimate continuous joint angular displacement and velocity, demonstrated by elbow flexion/extension. The model combines the Hill-based muscle model with the forward dynamics of joint movement, in which kinematic variables are expressed as a function of neural activation levels. EMG features including integral of absolute value and waveform length are then extracted, and two quadratic equations which associate the kinematic variables with EMG features are constructed to represent the measurement equation. The proposed model are verified by extensively experiments, where the angular movements of human elbow joint are estimated only using the EMG signals, and the estimations are compared with the IMU measurements to validate the accuracy. As a demonstration, a robotic arm is commanded to follow the human elbow movement estimated by the proposed model, which shows the possibility of EMG-based robotic assisted rehabilitation.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议主办者	IEEE, IEEE Syst, Man & Cybernet Soc, IEEE Circuits & Syst Soc (CAS), IEEE Engn, Med & Biol Soc (EMB)
会议录	2011 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS (SMC)
会议录出版者	IEEE
会议录出版地	Piscataway, NJ, USA
语种	英语
ISSN号	1062-922X
ISBN号	978-1-4577-0653-0
WOS记录号	WOS:000298615103022
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/8503]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Ding QC,Xiong AB,Zhao XG,et al. A Novel EMG-driven State Space Model for the Estimation of Continuous Joint Movements[C]. 见:IEEE International Conference on Systems, Man and Cybernetics (SMC). Anchorage, AK. October 9-12, 2011.