Abstract
Multiple degrees-of-freedom (DOFs) simultaneous and proportional control (SPC) is the trend of the electromyography (EMG)-driven human-machine interfaces. Recent studies demonstrated the capability of the musculoskeletal model in SPC. However, the supinator was a deep muscle and the signal-to-noise ratio (SNR) of the supinator surface EMG signal was relatively low. The musculoskeletal model had poor performance when decoding the joint angles of wrist rotation. This study proposed a control strategy intended to address this issue. The proposed decoder utilized an inertial measurement unit (IMU) to record the residual limb movements. The recorded residual limb movements were used to substitute EMG signals from a pair of agonist-antagonist muscles to control the wrist pronation/supination. Meanwhile, the decoder employed EMG signals for control of MCP flexion/extension and wrist flexion/extension. The EMG signals, IMU data and kinematic data were collected simultaneously from an able-bodied subject. To quantify the performance of the decoder, the Pearson’s correction coefficient (r) and the normalized root mean square error (NRMSE) between estimated and measured angles were computed. The results demonstrated that the decoder provided accurate estimations of wrist rotation while the performance of the decoder was not affected by the simultaneous movements with the MCP and wrist flexion/extension.
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Acknowledgments
The authors thank all participants who took part in the study. This work was supported in part by National Natural Science Foundation of China (Grant No. 52005364, 52122501). This work was also supported by the Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education (Tianjin University).
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Li, Z., Li, J., Pan, L. (2022). An IMU and EMG-Based Simultaneous and Proportional Control Strategy of 3-DOF Wrist and Hand Movements. In: Liu, H., et al. Intelligent Robotics and Applications. ICIRA 2022. Lecture Notes in Computer Science(), vol 13457. Springer, Cham. https://doi.org/10.1007/978-3-031-13835-5_39
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