ScholarWorks@숙명여자대학교

초록

In the robotics and rehabilitation engineering fields, surface electromyography (sEMG) signals have been widely studied to estimate muscle activation and utilized as control inputs for robotic devices because of their advantageous noninvasiveness. However, the stochastic property of sEMG results in a low signal-to-noise ratio (SNR) and impedes sEMG from being used as a stable and continuous control input for robotic devices. As a traditional method, time-average filters (e.g., low-pass filters) can improve the SNR of sEMG, but time-average filters suffer from latency problems, making real-time robot control difficult. In this study, we propose a stochastic myoprocessor using a rescaling method extended from a whitening method used in previous studies to enhance the SNR of sEMG without the latency problem that affects traditional time average filter-based myoprocessors. The developed stochastic myoprocessor uses 16 channel electrodes to use the ensemble average, 8 of which are used to measure and decompose deep muscle activation. To validate the performance of the developed myoprocessor, the elbow joint is selected, and the flexion torque is estimated. The experimental results indicate that the estimation results of the developed myoprocessor show an RMS error of 6.17[%], which is an improvement with respect to previous methods. Thus, the rescaling method with multichannel electrodes proposed in this study is promising and can be applied in robotic rehabilitation engineering to generate rapid and accurate control input for robotic devices.

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