Conditioning and sampling issues of EMG signals in motion recognition of multifunctional myoelectric prostheses

Historically, the investigations of electromyography (EMG) pattern recognition-based classification of intentional movements for control of multifunctional prostheses have adopted the filter cut-off frequency and sampling rate that are commonly used in EMG research fields. In practical implementation of a multifunctional prosthesis control, it is desired to have a higher high-pass cut-off frequency to reduce more motion artifacts and to use a lower sampling rate to save the data processing time and memory of the prosthesis controller. However, it remains unclear whether a high high-pass cut-off frequency and a low-sampling rate still preserve sufficient neural control information for accurate classification of movements. In this study, we investigated the effects of high-pass cut-off frequency and sampling rate on accuracy in identifying 11 classes of arm and hand movements in both able-bodied subjects and arm amputees. Compared to a 5-Hz high-pass cut-off frequency, excluding the EMG components below 60 Hz decreased the average accuracy of 0.1% in classifying the 11 movements across able-bodied subjects and increased the average accuracy of 0.1 and 0.4% among the transradial (TR) and shoulder disarticulation (SD) amputees, respectively. Using a 500 Hz instead of a 1-kHz sampling rate, the average classification accuracy only dropped about 2.0% in arm amputees. The combination of sampling rate and high-pass cut-off frequency of 500 and 60 Hz only resulted in about 2.3% decrease in average accuracy for TR amputees and 0.4% decrease for SD amputees in comparison to the generally used values of 1 kHz and 5 Hz. These results suggest that the combination of sampling rate of 500 Hz and high-pass cut-off frequency of 60 Hz should be an optimal selection in EMG recordings for recognition of different arm movements without sacrificing too much of classification accuracy which can also remove most of motion artifacts and power-line interferences for improving the performance of myoelectric prosthesis control.     

Control of upper-limb prostheses: a case for neuroelectric control.

A discussion is presented on the control aspects of upper-limb prostheses, with emphasis on the areas of necessary improvements in current designs. Arguments are presented to indicate that it should be possible to obtain a substantial improvement in prostheses control by properly training the amputee, improving the dynamics response of the prostheses, and improving the quality of the forward-path control signal. Augmentation of feedback information, although useful, may not be essential. The limitations of the myoelectric (muscle) signal as a forward-path control signal, especially for multiple degrees-of-freedom prostheses, is discussed. Most of the limitations of the myoelectric signal can be overcome if the neuroelectric (nerve) signal is used as a forward-path control signal. Results of a series of experiments which demonstrate the feasibility of constructing an electrode capable of being implanted around severed nerves and of detecting neuroelectric signals for prolonged periods of time are presented. A possible scheme for employing neuroelectric control is also presented.     

Abstract and Proportional Myoelectric Control for Multi-Fingered Hand Prostheses

Powered hand prostheses with many degrees of freedom are moving from research into the market for prosthetics. In order to make use of the prostheses’ full functionality, it is essential to study efficient ways of high dimensional myoelectric control. Human subjects can rapidly learn to employ electromyographic (EMG) activity of several hand and arm muscles to control the position of a cursor on a computer screen, even if the muscle-cursor map contradicts directions in which the muscles would act naturally. But can a similar control scheme be translated into real-time operation of a dexterous robotic hand? We found that despite different degrees of freedom in the effector output, the learning process for controlling a robotic hand was surprisingly similar to that for a virtual two-dimensional cursor. Control signals were derived from the EMG in two different ways, with a linear and a Bayesian filter, to test how stable user intentions could be conveyed through them. Our analysis indicates that without visual feedback, control accuracy benefits from filters that reject high EMG amplitudes. In summary, we conclude that findings on myoelectric control principles, studied in abstract, virtual tasks can be transferred to real-life prosthetic applications.     

Spatio-spectral filters for low-density surface electromyographic signal classification

In this paper, we proposed to utilize a novel spatio-spectral filter, common spatio-spectral pattern (CSSP), to improve the classification accuracy in identifying intended motions based on low-density surface electromyography (EMG). Five able-bodied subjects and a transradial amputee participated in an experiment of eight-task wrist and hand motion recognition. Low-density (six channels) surface EMG signals were collected on forearms. Since surface EMG signals are contaminated by large amount of noises from various sources, the performance of the conventional time-domain feature extraction method is limited. The CSSP method is a classification-oriented optimal spatio-spectral filter, which is capable of separating discriminative information from noise and, thus, leads to better classification accuracy. The substantially improved classification accuracy of the CSSP method over the time-domain and other methods is observed in all five able-bodied subjects and verified via the cross-validation. The CSSP method can also achieve better classification accuracy in the amputee, which shows its potential use for functional prosthetic control.     

Learning a novel myoelectric-controlled interface task

Control of myoelectric prostheses and brain–machine interfaces requires learning abstract neuromotor transformations. To investigate the mechanisms underlying this ability, we trained subjects to move a two-dimensional cursor using a myoelectric-controlled interface. With the upper limb immobilized, an electromyogram from multiple hand and arm muscles moved the cursor in directions that were either intuitive or nonintuitive and with high or low variability. We found that subjects could learn even nonintuitive arrangements to a high level of performance. Muscle-tuning functions were cosine shaped and modulated so as to reduce cursor variability. Subjects exhibited an additional preference for using hand muscles over arm muscles, which resulted from a greater capacity of these to form novel, task-specific synergies. In a second experiment, nonvisual feedback from the hand was degraded with amplitude- and frequency-modulated vibration. Although vibration impaired task performance, it did not affect the rate at which learning occurred. We therefore conclude that the motor system can acquire internal models of novel, abstract neuromotor mappings even in the absence of overt movements or accurate proprioceptive signals, but that the distal motor system may be better suited to provide flexible control signals for neuromotor prostheses than structures related to the arm.     

Relationship between morphologic somatotypes and standing posture equilibrium.

Previous studies have identified height and weight as important factors affecting quiet standing stability but studies have not addressed body morphology as a global factor. Using anthropometric measurements, the morphologic somatotypes were defined in terms of body composition and structure. The aim of this study was to test the hypothesis that morphologic somatotypes were related to standing posture equilibrium in able-bodied girls. A total of 43 able-bodied girls having a mean age of 13.8 +/- 2.2 years participated in this study. Somatotype measurements were taken to determine their endomorphic, mesomorphic or ectomorphic components. Then, subjects were asked to stand still on a force platform for 64 s with their eyes opened, feet about 23 cm apart and arms aligned with the trunk. Afterwards, subjects were grouped based on the highest value of their somatotype component. There was no statistical difference in age, height and weight among the groups. The surface area of an ellipse delineated by the displacement of the centre of pressure (COP) was statistically larger (236.9 +/- 134.3 mm2) for the ectomorphs than for the endomorphs 137.7 +/- 71.4 mm2). The minor axis was longer (8.1 +/- 2.9 mm) for the ectomorphs than for the endomorphs (5.7 +/- 2.2 mm). The decrease in standing posture stability of the ectomorphic group was attributed to a relatively low muscle component, a high height weight ratio and an elevated position of the body centre of mass in this population of girls. Somatotypes should be considered when assessing standing posture in both able-bodied subjects and patients.     

Relationship between morphologic somatotypes and standing posture equilibrium

Previous studies have identified height and weight as important factors affecting quiet standing stability but studies have not addressed body morphology as a global factor. Using anthropometric measurements, the morphologic somatotypes were defined in terms of body composition and structure. The aim of this study was to test the hypothesis that morphologic somatotypes were related to standing posture equilibrium in able-bodied girls. A total of 43 able-bodied girls having a mean age of 13.8 &#45 2.2 years participated in this study. Somatotype measurements were taken to determine their endomorphic, mesomorphic or ectomorphic components. Then, subjects were asked to stand still on a force platform for 64 s with their eyes opened, feet about 23 cm apart and arms aligned with the trunk. Afterwards, subjects were grouped based on the highest value of their somatotype component. There was no statistical difference in age, height and weight among the groups. The surface area of an ellipse delineated by the displacement of the centre of pressure (COP) was statistically larger (236.9 &#45 134.3 mm 2 ) for the ectomorphs than for the endomorphs (137.7 &#45 71.4 mm 2 ). The minor axis was longer (8.1 &#45 2.9 mm) for the ectomorphs than for the endomorphs (5.7 &#45 2.2 mm). The decrease in standing posture stability of the ectomorphic group was attributed to a relatively low muscle component, a high height-weight ratio and an elevated position of the body centre of mass in this population of girls. Somatotypes should be considered when assessing standing posture in both able-bodied subjects and patients.     

Dimensional change in muscle as a control signal for powered upper limb prostheses: a pilot study

The vast majority of externally powered prostheses are controlled from the myoelectric signal, measured at the skin surface using socket-located electrodes. This signal has been well researched and sophisticated signal processing methods developed. Nevertheless, the inherent properties of the signal, such as its broad bandwidth and low voltage amplitude, make its use less than straightforward in the control of low frequency activity such as powered prosthetic hand movement. This paper reports on a pilot study of an alternative, a signal derived from dimensional change in muscle. A new socket-located sensor was designed to measure dimensional change in muscle, the linearised output of which is termed the myokinemetric (MK) signal. This was used in a series of tasks aimed at investigating the potential for its use in upper-limb prosthesis control. Six amputee subjects were tested, of whom one was a regular user of the myoelectric hand, one had some experience, and four had little or no previous experience of controlling devices using their residual limb. Data is presented on the problems of shift in signal range with time and socket donning and doffing and on the ability of subjects to control the amplitude of the signal. The results show that subjects were able to control the magnitude of the MK signal to a significant degree, with typical errors averaging 0.1-0.3 mm, around 10% of the signal range. The principal problem encountered was the shift in signal with time and socket donning and doffing.     

Loss of large-diameter spindle afferent fibres is not detrimental to the control of body sway during upright stance: evidence from neuropathy

The question of whether the final arm posture to be reached is determined in advance during prehension movements remains widely debated. To address this issue, we designed a psychophysical experiment in which human subjects were instructed to reach and grasp, with their right arm, a small sphere presented at various locations. In some trials the sphere remained stationary, while in others (the perturbed trials) it suddenly jumped, at movement onset, to a new unpredictable position. Our data indicate that the final configuration of the upper limb is highly predictable for a given location of the sphere. For movements directed at stationary objects, the variability of the final arm posture was very small in relation to the variability allowed by joint redundancy. For movements directed at "jumping" objects, the initial motor response was quickly amended, allowing an accurate grasp. The final arm posture reached at the end of the perturbed trials was neither different from nor more variable than the final arm posture reached at the end of the corresponding stationary trials (i.e. the trials sharing the same final object location). This latter result is not trivial, considering both joint redundancy and the motor reorganization imposed by the change in sphere location. In contrast to earlier observations, our data cannot be accounted for by biomechanical or functional factors. Indeed, the spherical object used in the present study did not constrain the final arm configuration or the hand trajectory. When considered together, our data support the idea that the final posture to be reached is planned in advance and used as a control variable by the central nervous system.     

Myoelectric control of prostheses

The development of myoelectric control systems for powered limb prostheses has advanced rapidly in recent years. The main thrusts in this development have been in realizing self-contained prostheses and in realizing better prostheses control through improvements in the myoelectric signal processing techniques. This review considers the latter of these two areas. It first presents an historical look at myoelectric signal processing and identifies the problems. It then presents a general look at the myoelectric signal and those characteristics which give rise to these problems. A review of the literature related to various control strategies and signal processing techniques to overcome these problems is given. Finally, future trends to be expected in this area are discussed.     

Myoelectric prostheses: state of the art

The following is a brief introduction to powered prosthetics and myoelectric control. This paper reviews the present availability and clinical impact of myoelectric prostheses. A significant observation is that these systems have reached a sufficient degree of maturity that they are accepted by many health-care funding agencies as reasonable and cost-effective components of the rehabilitation process. The limitations of both the mechanical systems and the myoelectric controls are discussed in some detail, from the viewpoint of the potential user. Finally, an overview is given of current research in this field with comments on probable directions of development.     

Position proprioception in a microcomputer-controlled prosthesis

Powered upper-extremity multifunctional prostheses have been in existence for several decades. However, the acceptance rate by amputees of these devices is extremely poor. An examination of the reasons for the poor level of acceptance has revealed that a major problem is the absence of proprioception of the position of the prosthesis. This makes its operation very difficult and usually results in it being rejected by amputees. A control technique termed extended physiological proprioception was introduced some years ago to provide amputees with proprioception of the position in space of their prostheses. This paper deals with a new realisation of a prosthesis with extended physiological proprioception. The system is under the control of a microcomputer and electrical actuators are used throughout. In the case of the above-elbow prosthesis chosen for this study, the input signals are obtained from a shoulder goniometer on the amputated side. Function is broadened by giving the amputee a repertoire of input/output relationships from which to choose depending on the task being performed.     

Intelligent multifunction myoelectric control of hand prostheses

Intuitive myoelectric prosthesis control is difficult to achieve due to the absence of proprioceptive feedback, which forces the user to monitor grip pressure by visual information. Existing myoelectric hand prostheses form a single degree of freedom pincer motion that inhibits the stable prehension of a range of objects. Multi-axis hands may address this lack of functionality, but as with multifunction devices in general, serve to increase the cognitive burden on the user. Intelligent hierarchical control of multiple degree-of-freedom hand prostheses has been used to reduce the need for visual feedback by automating the grasping process. This paper presents a hybrid controller that has been developed to enable different prehensile functions to be initiated directly from the user's myoelectric signal. A digital signal processor (DSP) regulates the grip pressure of a new six-degree-of-freedom hand prosthesis thereby ensuring secure prehension without continuous visual feedback.     

Intelligent multifunction myoelectric control of hand prostheses

Intuitive myoelectric prosthesis control is difficult to achieve due to the absence of proprioceptive feedback, which forces the user to monitor grip pressure by visual information. Existing myoelectric hand prostheses form a single degree of freedom pincer motion that inhibits the stable prehension of a range of objects. Multi-axis hands may address this lack of functionality, but as with multifunction devices in general, serve to increase the cognitive burden on the user. Intelligent hierarchical control of multiple degree-of-freedom hand prostheses has been used to reduce the need for visual feedback by automating the grasping process. This paper presents a hybrid controller that has been developed to enable different prehensile functions to be initiated directly from the user's myoelectric signal. A digital signal processor (DSP) regulates the grip pressure of a new six-degree-of-freedom hand prosthesis thereby ensuring secure prehension without continuous visual feedback.     

Using arm configuration to learn the effects of gyroscopes and other devices

Previous studies have perturbed the association between motor commands and arm movements by applying forces to the arm during two-dimensional movements. These studies have revealed that, when the normal hand path is perturbed, subjects gradually adapt their motor commands to return to this path. The present study used the spin of a gyroscope to create a complex perturbation, as subjects reached to targets presented in three dimensions. Hand path did not change, but the whole-arm geometry ("arm configuration" in four dimensions) was altered. Over a series of several hundred reaches to various targets, subjects gradually returned the arm movement to its normal configuration. Furthermore, during the course of this learning, subjects used a strategy that involved manipulating arm posture. A similar strategy was observed when subjects made reaching movements with a rod attached to the upper arm to change its inertial characteristics. In both cases, the gradual return to the normal arm movement was accomplished without an increase in kinetic energy, suggesting that arm postures and movements (kinematics) and muscular forces (kinetics) may be mutually optimized. In contrast to previous studies, the present results highlight the role of arm configuration (rather than hand path) in learning and control.     

Remembered positions: stored locations or stored postures?

Many recent studies indicate that memory for final position is superior to memory for movement. There is ambiguity about what is meant by the term final position, however. Is it final spatial location or final posture? According to a recently proposed theory by Rosenbaum et al., which maintains that stored postures form the basis for movement planning, when people try to return to recently reached positions, they should try to adopt the postures they just occupied. An alternative view, which holds that movements are primarily planned with respect to spatial locations, predicts that subjects should tend to return to places in external space. We describe an experiment that tested these opposing predictions. The experiment relied on the notion that if people store and use postures, they should ”copy” the posture adopted with one arm to the other arm when possible. The results support this hypothesis.     

Submaximal arm crank ergometry: Effects of crank axis positioning on mechanical efficiency,physiological strain and perceived discomfort

Purpose: To evaluate the effect of the spatial orientation of the crank axis on mechanical efficiency, physiological strain and perceived discomfort in submaximal synchronous arm crank ergometry.

Methods: Twelve able-bodied individuals performed 12 submaximal exercise bouts of 3 minutes (women: 20 W/25 W; men: 25 W/35 W). The crank axis position was defined by elbow and shoulder angle.

Results: The results showed that a crank set-up with an elbow angle of 30° was more efficient than 15°; oxygen consumption and minute ventilation were significantly lower. No significant effects were seen for shoulder angle. Power output and gender showed obvious effects.

Discussion and conclusion: The magnitude of this effect and the absence of any significant shoulder angle effects may be due to the relative low exertion levels that were evaluated. An elbow angle of 30° flexion in arm crank exercise is favourable compared to an elbow angle of 15° in able-bodied untrained subjects.     

Sonomyography: monitoring morphological changes of forearm muscles in actions with the feasibility for the control of powered prosthesis

Electromyography (EMG) has been widely used for the assessment of musculoskeletal functions and the control of electrical prostheses, which make use of the EMG signal generated by the contraction of the residual muscles. In spite of the successful applications of EMG in different fields, it has some inherent limitations, such as the difficulty to differentiate the actions of neighboring muscles and to collect signals from deep muscles using the surface EMG. The majority of current EMG controlled prostheses can only provide sequential on-off controls using signals from two groups of muscles, so the users are required to put many conscious efforts in monitoring the speed and range of motion of the terminal devices being controlled. Recently, many alternative signals based on the detection of dimensional changes of muscles or tendons during actions have been reported. The objective of this study was to investigate the potential of the dimensional change of muscles detected using sonography for musculoskeletal assessment and control. A portable B-mode ultrasound scanner was used to collect the dynamic ultrasound images of the forearm muscles of six normally limbed young adults and three amputee subjects. A motion analysis system was used to collect the movement of the wrist angle during the experiments for the normal subjects. It was demonstrated that the morphological changes of forearm muscles during actions can be successfully detected by ultrasound and linearly correlated (R(2)=0.876+/-0.042, mean+/-S.D.) with the wrist angle. We named these sonographically detected signals about the architectural change of the muscle as sonomyography (SMG). The mean ratio between the wrist angle and the percentage deformation of the forearm muscle was 7.2+/-3.7 degrees /% for the normal subjects. The intraclass correlation coefficient (ICC) of this ratio among the three repeated tests was 0.868. The SMG signals from the residual forearms were also successfully detected when the three amputee subjects contracted their residual muscles. The results demonstrated that SMG had potentials for the musculoskeletal control and assessment.     

Role of leg vasculature in the cardiovascular response to arm work in wheelchair-dependent populations

To assess the effects of leg vasculature on cardiovascular dynamics during submaximal arm work, oxygen uptake (VO2), cardiac output (Q) and heart rate (HR) were measured during arm-crank ergometry (ACE) at 35 W (45% peak ACE VO2) in five able-bodied subjects, five wheelchair-dependent paraplegics, and five wheelchair-dependent bilateral amputees who represented the conditions of active, passive, and absence of leg musculature respectively. Arteriovenous oxygen difference (a-v O2) and stroke volume (SV) were calculated from VO2, Q and HR. An index of leg fluid accumulation and leg blood flow was measured in the paraplegics and able-bodied subjects during rest and ACE. VO2, Q, and a-v O2 during ACE were not statistically different among the three groups. However, paraplegics exhibited higher HR (P less than 0.05) and lower SV (P less than 0.06) during exercise compared to both amputees and able-bodied subjects. Greater (P less than 0.05) leg fluid accumulation was measured in paraplegics compared to able-bodied subjects, although no statistically significant differences in leg blood flow were observed. Although our results are limited to a small number of subjects, these data suggest that an active muscle pump contributes significantly to elevated venous return and stroke volume during ACE. The legs of the paraplegic appear to act as a reservoir for fluid accumulation which may limit cardiac filling, particularly during moderate arm work to support wheelchair function.     

Open-loop position control of the knee joint using electrical stimulation of the quadriceps and hamstrings

The clinical acceptability of functional electrical stimulation (FES) as an aid for restoration of paraplegic gait is limited by the inability to accurately and repeatedly position the lower extremity. To gain insight into the causes of and possible solutions to this problem, the responses of the quadriceps and hamstrings to FES were studied in able-bodied subjects. Isometric torque was dependent on knee angle and changed unpredictably with time. An open-loop feedforward knee-joint position controller was also tested. The results demonstrated that it is beneficial to account for the dependence of torque on position, that modifications to this openloop controller might improve accuracy and that closed-loop control may be essential for functional restoration of gait.