Surface EMG pattern recognition for real-time control of a wrist exoskeleton 英文参考文献.docVIP

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Surface EMG pattern recognition for real-time control of a wrist exoskeleton 英文参考文献.doc

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Surface EMG pattern recognition for real-time control of a wrist exoskeleton 英文参考文献

Khokharetal.BioMedicalEngineeringOnLine2010,9:41 /content/9/1/41 RESEARCH OpenAccess SurfaceEMGpatternrecognitionforreal-time controlofawristexoskeleton ZeeshanOKhokhar,ZhenGXiao,CarloMenon* *Correspondence:cmenon@sfu.ca Abstract MENRVAGroup,Schoolof EngineeringScience,Facultyof AppliedScience,SimonFraser University,8888UniversityDrive, Background:Surfaceelectromyography(sEMG)signalshavebeenusedinnumerous studiesfortheclassificationofhandgesturesandmovementsandsuccessfully Burnaby,BC,V5A1S6,Canada implementedinthepositioncontrolofdifferentprosthetichandsforamputees. sEMGcouldalsopotentiallybeusedforcontrollingwearabledeviceswhichcould assistpersonswithreducedmusclemass,suchasthosesufferingfromsarcopenia. WhileusingsEMGforpositioncontrol,estimationoftheintendedtorqueoftheuser couldalsoprovidesufficientinformationforaneffectiveforcecontrolofthehand prosthesisorassistivedevice.Thispaperpresentstheuseofpatternrecognitionto estimatethetorqueappliedbyahumanwristanditsreal-timeimplementationto controlanoveltwodegreeoffreedomwristexoskeletonprototype(WEP),which wasspecificallydevelopedforthiswork. Methods:BothsEMGdatafromfourmusclesoftheforearmandwristtorquewere collectedfromeightvolunteersbyusingacustom-madetestingrig.Thefeatures thatwereextractedfromthesEMGsignalsincludedrootmeansquare(rms)EMG amplitude,autoregressive(AR)modelcoefficientsandwaveformlength.Support VectorMachines(SVM)wasemployedtoextractclassesofdifferentforceintensity fromthesEMGsignals.Afterassessingtheoff-lineperformanceoftheused classificationtechnique,theWEPwasusedtovalidateinreal-timetheproposed classificationscheme. Results:Thedatagatheredfromthevolunteersweredividedintotwosets,onewith nineteenclassesandthesecondwiththirteenclasses.Eachsetofdatawasfurther dividedintotrainingandtestingdata.Itwasobservedthattheaveragetesting accuracyinthecaseofnineteenclasseswasabout88%whereastheaverage accuracyinthecaseofthirteenclassesreachedabout96%.Classificationandcontrol algorithmimplementedintheWEPwasexecutedi