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A State-Space EMG Model for the Estimation of Continuous Joint Movements
文献类型：期刊论文
| 作者 | Han JD(韩建达) ; Ding QC(丁其川); Xiong AB(熊安斌); Zhao XG(赵新刚)
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| 刊名 | IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
 |
| 出版日期 | 2015 |
| 卷号 | 62期号:7页码:4267-4275 |
| 关键词 | Closed-loop estimation continuous joint motion electromyography (EMG) muscle model |
| ISSN号 | 0278-0046 |
| 产权排序 | 1 |
| 通讯作者 | 韩建达 |
| 中文摘要 | A 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. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Automation & Control Systems ; Engineering, Electrical & Electronic ; Instruments & Instrumentation |
| 研究领域[WOS] | Automation & Control Systems ; Engineering ; Instruments & Instrumentation |
| 关键词[WOS] | ESTIMATE MUSCLE FORCES ; MYOELECTRIC CONTROL ; CLASSIFICATION ; LIMB ; EXOSKELETON ; INTERFACE ; MOMENTS ; ELECTROMYOGRAPHY ; PROSTHESES ; SIGNAL |
| 收录类别 | SCI ; EI |
| 语种 | 英语 |
| WOS记录号 | WOS:000354945400028 |
| 源URL | [http://ir.sia.ac.cn/handle/173321/16224]  |
| 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 | 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. |
入库方式： OAI收割
来源：沈阳自动化研究所
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