Real-time embedded frame work for sEMG skeletal muscle force estimation and LQG control algorithms for smart upper extremity prostheses》.pdf

Engineering Applications of Artificial Intelligence 46 (2015) 67–81 Contents lists available at ScienceDirect Engineering Applications of Artificial Intelligence journal homepage: /locate/engappai Real-time embedded frame work for sEMG skeletal muscle force estimation and LQG control algorithms for smart upper extremity prostheses Chandrasekhar Potluri n, Madhavi Anugolu, D. Subbaram Naidu, Marco P. Schoen, Steve C. Chiu Measurement and Control Engineering Research Center, Idaho State University, Pocatello, ID 83209, USA a r t i c l e i n f o a b s t r a c t Article history: This paper presents a real-time embedded framework for finger force control of upper extremity Received 2 July 2014 prostheses. The proposed system is based on the hypothesis that models describing the finger force and Received in revised form surface Electromyographic (sEMG) signal relationships of healthy subjects can be applied to amputees. An 28 June 2015 identification/estimation scheme is applied to the collected sEMG and finger force signals in order to infer Accepted 11 August 2015 dynamical models relating the two. A LQG control law is proposed based on this estimation scheme in order to control finger forces of upper extremity prostheses. For the force estimation, filtered sEMG signals Keywords: from a sensor array and finger force data of a healthy subject are acquired. Real-time estimation and Electromyogram (EMG)