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1

EMG-controlled hand exoskeleton for assisted bilateral rehabilitation

De la Cruz-Sánchez Berith Atemoztli, Arias-Montiel Manuel, Lugo-González Esther

Biocybernetics and Biomedical Engineering

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2022

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Vol. 42, no. 2

596--614

EN

This article presents an electromyography (EMG) controlled hand exoskeleton for basic movements in assisted bilateral therapy, where bimanual work is required by the user. The target users are individuals with the right hand affected by an accident or cerebrovascular problems which require passive or assisted rehabilitation. Through a Matlab GUI, the system receives, processes and classifies electromyographic signals from the user acquired by a MYO armband obtaining an accuracy of 81.2% using k-Nearest Neighbors (kNN) as the classification algorithm and Random Subset Feature Selection (RSFS) as the feature selection algorithm. Subsequently, the exoskeleton reproduces the movement detected in the user’s opposite hand. The exoskeleton prototype is 8 degrees of freedom (DOF), built using 3D printing and has independent movement of the fingers. The movement controller is based on fuzzy logic. For the system performance analysis, kinematic information from a motion capture system is used to compare the trajectories in different grasping tasks of a user’s hand with and without the exoskeleton with a maximum error of 10.63% and a minimum of 3.46% with the desired final position, which physically represents a difference of 1.89° and 0.07° respectively.

2

System do rejestracji sygnałów EMG i MMG dla sterowania bioprotezą dłoni

Wołczowski A., Błędowski M., Witkowski J.

Prace Naukowe Politechniki Warszawskiej. Elektronika

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2016

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z. 195, t. 1

167--178

PL

Jednym z czynników mających istotny wpływ na niezawodność sterowania wielofunkcyjną protezą dłoni jest proces akwizycji biosygnałów. W pracy omówiono naturę sygnałów EMG i MMG oraz zakłócenia towarzyszące ich rejestracji. Opisano opracowany na podstawie tych przesłanek system pomiarowy, a także przebieg procedury pomiaru.

EN

The process of biosignal acquisition has a significant impact on the reliability of the control of the multi-functional hand prosthesis. The paper discusses the nature of EMG and MMG signals and the noise associated with their registration. The measuring system developed on the basis of these premises, as well as the measurement procedure were described.

3

Method of automatic recognition and other solutions used in new computer program for full decomposition of EMG signals

Młoźniak D., Piotrkiewicz M.

Biocybernetics and Biomedical Engineering

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2015

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Vol. 35, no. 1

22--29

EN

The analysis of electromyographic signals can be very time consuming. In designing a program for EMG signal analysis, there are two competing factors: the accuracy of the final result and its speed. In scientific work, accuracy is the most important factor. All of the existing decomposition programs used in neurophysiology require a final phase of manual corrections, if reliable results are to be obtained. This phase is considerably longer than the phase of automatic recognition. The solutions presented below, used in our new MUR program, allow for the accurate decomposition of complex EMG signals in a reasonable amount of time. The decomposition is performed interactively with optimal time division between automatic and manual tasks. All of this is achieved through a simple method of automatic recognition with the use of the modified coefficient of determination and the method of multiple subtractions of potentials.

4

Interfejs EMG do sterownika programowalnego PLC

Garstka T., Knapiński M.

Przegląd Elektrotechniczny

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2014

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R. 90, nr 5

90--93

PL

W artykule przedstawiono konstrukcję zintegrowanego interfejsu HMI, sygnału elektromiograficznego, dedykowanego do współpracy ze sterownikami programowalnymi PLC. Modułowa konstrukcja, umieszczona w obudowie przystosowanej do montażu na szynie DIN, umożliwia zabudowanie interfejsu w typowych szafach sterowniczych obok innych elementów automatyki. Przedstawiono również działanie podprogramu sterownika, współpracującego z interfejsem jak i praktycznych testów zbudowanego układu, w trakcie, których, badano jego funkcjonowanie.

EN

In this paper the integrated construction of HMI interface, dedicated to cooperation with programmable logic controller was presented. Modular structure of interface, installed inside casing for mounting on DIN rail, allows installing it in standard control cabinets along with other automation components. Operation of PLC’s subroutine for cooperation with presented interface as well as results of its investigations during practical tests was shown.

5

Time-efficient removal of power-line noise from EMG signals using IIR notch filters with non-zero initial conditions

Piskorowski J.

Biocybernetics and Biomedical Engineering

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2013

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Vol. 33, no. 3

171--178

EN

Power-line interference is always a problem when biopotential signals are recorded. This paper presents a technique for time-efficient power-line interference suppression from EMG signals using digital IIR (Infinite Impulse Response) notch filters with reduced transient response. The reduction of the transient response is obtained by finding optimal non-zero initial conditions for the considered notch filters. Simulations verifying the effectiveness of the proposed technique are presented and compared with the performance of the traditional notch filters with zero initial conditions using EMG signal with unwanted sinusoidal interferences as a study case.

6

Time–frequency Analysis of the EMG Digital Signals

Kuniszyk-Jóźkowiak W., Jaszczuk J., Sacewicz T., Codello I.

Annales Universitatis Mariae Curie-Skłodowska. Sectio AI, Informatica

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2012

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Vol. 12, no. 2

20--25

EN

In the article comparison of time-frequency spectra of EMG signals obtained by the following methods: Fast Fourier Transform, predictive analysis and wavelet analysis is presented. The EMG spectra of biceps and triceps while an adult man was flexing his arm were analysed. The advantages of the predictive analysis were shown as far as averaging of the spectra and determining the main maxima are concerned. The Continuous Wavelet Transform method was applied, which allows for the proper distribution of the scales, aiming at an accurate analysis and localisation of frequency maxima as well as the identification of impulses which are characteristic of such signals (bursts) in the scale of time. The modified Morlet wavelet was suggested as the mother wavelet. The wavelet analysis allows for the examination of the changes in the frequency spectrum in particular stages of the muscle contraction. Predictive analysis may also be very useful while smoothing and averaging the EMG signal spectrum in time.

7

Stanowisko do oceny zmęczenia mięśnia

Andrynowska A., Klonecki C, Klekiel T.

Acta Bio-Optica et Informatica Medica. Inżynieria Biomedyczna

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2012

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Vol. 18, nr 2

151-154

PL

W pracy przedstawiono stanowisko do badań dynamicznych aktywności mięśnia. Zaproponowano rozwiązanie, w którym istnieje możliwość pomiaru wybranych grup mięśniowych w czasie ruchu. Ze względu na fakt, że ból mięśni może być spowodowany poprzez niewłaściwe ułożenie ciała, jak również niekontrolowane napięcie mięśni, zaproponowano rozwiązanie, w którym istnieje możliwość kontroli i automatycznej reakcji systemu na podobne zdarzenia. Przedstawiono system pomiarowy składający się ze wzmacniacza sygnału, układu filtracji oraz układu mikroprocesorowego, umożliwiającego przesyłanie danych do jednostki nadrzędnej, np. komputera. Stanowisko pozwala na niezależny pomiar dla trzech mięśni, a dane przekazywane do komputera są archiwizowane i analizowane.

EN

The article describes a technical concept of device to research dynamic activity of a muscle. The proposed solution anticipated the possibility of taking measurements of selected muscle groups in motion. Muscle pain can be caused by improper position of body, as well as uncontrolled muscle tension. However, there is a solution allowing for control and automatic reaction to similar occurrences. The system of measurement, which is presented, consists of signal amplifier, active filter and microprocessor with AD converter which enables to send data to recording. The device enables the independent measurement of three muscles and data transmitted to the computer is archived and analyzed simultaneously.

8

Możliwości wykorzystania sygnału EMG do sterowania

Nawrocka A., Moszkowski T., Szefer P.

Aktualne Problemy Biomechaniki

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2011

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z. 5

109--114

PL

Celem przeprowadzonych badań było wykazanie użyteczności sygnału EMG (elektromiograficznego) w teorii sterowania. Przeprowadzono badanie stwierdzające powiązanie pomiędzy aktywnością elektryczną mięśni (biceps i triceps brachii) a siłą mięśniową w warunkach statycznych. Opracowano algorytm obróbki danych elektromiograficznych. Wykazano liniową zależność pomiędzy omawianymi wielkościami fizycznymi jednocześnie potwierdzając użyteczność sygnału EMG jako sygnału sterującego. Jednakże zaleca się poszerzenie przeprowadzonych badań o badania dynamiczne skurczu mięśnia.

EN

The aim of the study was to perform sEMG (surfacial electromyography) signal analysis focusing on its applicability for control purposes. Research that aimed at determining the relation between electromuscular activity and static muscular force was conducted. Algorithm for processing of the obtained data was prepared. Linear dependence of the aforementioned quantities was established, therefore the convenience of usage of sEMG as a control signal was confirmed. However, further research on the dynamics of muscular contraction is necessary.

9

Application of INA122 amplifier to measure of EMG signals

Andrynowska A., Klekiel T.

Aktualne Problemy Biomechaniki

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2011

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z. 5

7--12

EN

In this paper the amplifier to measure electromyographic (EMG) signals was developed. The device to recognize EMG signals was built with the use precision instrumentation amplifier INA122 made by BURR-BROWN Corporation. First, the solution was identified and the gain characteristics prepared. Next, the device was tested by measuring of EMG signals on biceps brachii muscle. Finally, the method of flex muscle identification was proposed.

10

Sterowanie bioprotezą dłoni - oprogramowanie do analizy sygnału EMG

Suchodolski T., Wołczowski A.

Prace Naukowe Politechniki Warszawskiej. Elektronika

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2010

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z. 175, t. 1

111-122

PL

Praca przedstawia problem sterowania decyzyjnego bioprotezą dłoni, traktowany jako rozpoznawanie intencji ruchowych człowieka na drodze analizy miosygnałów. Ze względu na dużą liczbę klas ruchu oraz wymaganą, wysoką niezawodność rozpoznawania tych klas prezentowane podejście polega na łącznym wykorzystaniu takich metod jak: drzewa decyzyjne, sieci neuronowe oraz algorytmy genetyczne dla uzyskania poprawy niezawodności rozpoznawania.

EN

The paper discusses the problem of human intention recognition by means of the electromyography (EMG) signals analysis. The signal characteristics and the large number of movement classis of a dexterous hand together with the high reliability of their recognition thatis demanded make all this problem all the more difficult. The presented approach consist in combining such technics as Decision Tree, Neural Networks and Genetic Algorithms to obtain the reliable recognition.

11

Finger curvature movement recognition interface technique using SEMG signals

Itoh Y., Uematsu H., Nogata F., Nemoto T., Inamori A., Koide K., Matsuura H.

Journal of Achievements in Materials and Manufacturing Engineering

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2007

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Vol. 23, nr 2

43-46

EN

Purpose: Until recently, keyboard has been used as the primary input method for machinery operation system. But in recent years, numerous methods related to direct input interface have been developed. One of them is to measure the surface electric potential that generates on the skin surface during muscle contraction. Based of this fact, hand finger operation can also be recognized with the help of the surface muscle electric potential. The purpose of this study is to identify the hand finger operation using surface electromyogram (SEMG) during crookedness state of the finger. Design/methodology/approach: Two electrodes (Ag-AgCl electrode) were sticked randomly on the forearm muscles and the intensity of EMG signals at different muscles were measured for each crooked finger. Then depending on the intensity of the obtained electric potentials, a position was located and considered to have participated most actively during the crookedness state of that finger. Thus five locations on the forearm muscles were identified for five different fingers. Moreover, four different types of crookedness states were considered for each finger. Findings: In this experimental study, the electric current that generates on the skin during muscle activity was measured for different hand finger operations. As a result, it is found that there is a specified position related the maximum intensity of EMG signals for each finger. Practical implications: This paper cleared that the amount of crookedness of each finger can also be recognized with the help of surface EMG. It could be used as a machine interface technology in the field of welfare equipments, robot hand operation, virtual reality, etc. Originality/value: The objective of this research project was to develop the method of recognizing the hand finger operation and their crookedness states from surface electromyogram (SEMG).

12

Analiza sygnałów EMG

Dobrowolski A., Tomczykiewicz K., Komur P.

Pomiary Automatyka Kontrola

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2006

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R. 52, nr 9 bis

94--96

PL

Statystyczne opracowanie wyników badania elektromiograficznego zapewnia w większości przypadków prawidłową klasyfikację patologii bez określenia stopnia ciężkości choroby. Celem rozpoczętych badań jest stworzenie aplikacji, która wykorzystując specjalnie opracowane algorytmy cyfrowego przetwarzania sygnałów, w sposób automatyczny i jednoznaczny wyznaczy rodzaj patologii oraz - być może - stopień uszkodzenia badanego mięśnia. Drugim celem publikacji jest uporządkowanie medycznych pojęć związanych z badaniami elektromiograficznymi w kontekście inżynierskim, co pozwoli ukonstytuować niezbędną płaszczyznę porozumienia łączącą środowiska medyczne i techniczne.

EN

The statistical study of the electromyography examination results, secure in most cases the correct classification of pathology without a grade of disease qualification. The aim of beginning works is to create an application, which applies dedicated digital signal processing algorithms, automatically and unambiguously determine the kind of pathology and perhaps the grade of disease. Another aim of this paper is to clarify medical concepts connected with electromyography examination in an engineering context. This allows us to form essential common ground linked to medical and technical environments.