Estimation of Upper Limb Joint Angle Using Surface EMG Signal

被引:51
作者
Aung, Yee Mon [1 ]
Al-Jumaily, Adel [1 ]
机构
[1] Univ Technol Sydney, Fac Engn, Sch Elect Mech & Mechatron Syst, Sydney, NSW 2007, Australia
来源
INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS | 2013年 / 10卷
关键词
sEMG based Upper Limb Rehabilitation; Back Propagation Neural Network; Joint Angle Estimation; Virtual Reality;
D O I
10.5772/56717
中图分类号
TP24 [机器人技术];
学科分类号
080202 ; 1405 ;
摘要
In the development of robot-assisted rehabilitation systems for upper limb rehabilitation therapy, human electromyogram (EMG) is widely used due to its ability to detect the user intended motion. EMG is one kind of biological signal that can be recorded to evaluate the performance of skeletal muscles by means of a sensor electrode. Based on recorded EMG signals, user intended motion could be extracted via estimation of joint torque, force or angle. Therefore, this estimation becomes one of the most important factors to achieve accurate user intended motion. In this paper, an upper limb joint angle estimation methodology is proposed. A back propagation neural network (BPNN) is developed to estimate the shoulder and elbow joint angles from the recorded EMG signals. A Virtual Human Model (VHM) is also developed and integrated with BPNN to perform the simulation of the estimated angle. The relationships between sEMG signals and upper limb movements are observed in this paper. The effectiveness of our developments is evaluated with four healthy subjects and a VHM simulation. The results show that the methodology can be used in the estimation of joint angles based on EMG.
引用
收藏
页数:8
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