Pan Lizhi, Sheng Xinjun, Zhang Dingguo, Zhu Xiangyang
Annu Int Conf IEEE Eng Med Biol Soc. 2013;2013:4593-6. doi: 10.1109/EMBC.2013.6610570.
This paper presents a linear model for simultaneous and proportional estimation of the two degree-of-freedoms (DOFs) wrist angle positions with surface electromyography (EMG). A 5th order state-space model was used to estimate wrist kinematics from 4-channel surface EMG signals of the contralateral forearm during mirrored bilateral movements without motion constraints. The EMG signal from each of the three limbed normal subjects was collected along with each angle position in two DOFs from both of the arms, with motion parameters tested including the radial/ulnar deviation and flexion/extension of the wrist. The estimation performance was in the range 0.787-0.885 (R(2) index) for the two DOFs in three limbed normal subjects. The results show that wrist kinematics can be estimated in 2 DOFs by state-space models with relative high accuracy compared with the results reported previously. The method proposed, as requiring only kinematics measured from the contralateral wrist, is potentially available for a unilateral amputee in simultaneous and proportional control of DOFs in powered upper limb prostheses.
本文提出了一种用于通过表面肌电图（EMG）同时且成比例地估计双自由度（DOF）手腕角度位置的线性模型。在无运动约束的镜像双侧运动期间，使用五阶状态空间模型从对侧前臂的四通道表面肌电信号估计手腕运动学。采集了三名肢体健全受试者的肌电信号以及双臂两个自由度中的每个角度位置，测试的运动参数包括手腕的桡偏/尺偏和屈伸。在三名肢体健全受试者中，两个自由度的估计性能在0.787 - 0.885（R²指数）范围内。结果表明，与先前报道的结果相比，通过状态空间模型可以以相对较高的精度估计两个自由度的手腕运动学。所提出的方法仅需要对侧手腕测量的运动学，对于单侧截肢者在动力上肢假肢的自由度同时且成比例控制中可能是可行的。
