Minimum Mapping from EMG Signals at Human Elbow and Shoulder Movements into Two DoF Upper-Limb Robot with Machine Learning

Abstract

This research focuses on the minimum process of classifying three upper arm movements (elbow extension, shoulder extension, combined shoulder and elbow extension) of humans with three electromyography (EMG) signals, to control a 2-degrees of freedom (DoF) robotic arm. The proposed minimum process consists of four parts: time divisions of data, Teager–Kaiser energy operator (TKEO), the conventional EMG feature extraction (i.e., the mean absolute value (MAV), zero crossings (ZC), slope-sign changes (SSC), and waveform length (WL)), and eight major machine learning models (i.e., decision tree (medium), decision tree (fine), k-Nearest Neighbor (KNN) (weighted KNN, KNN (fine), Support Vector Machine (SVM) (cubic and fine Gaussian SVM), Ensemble (bagged trees and subspace KNN). Then, we compare and investigate 48 classification models (i.e., 47 models are proposed, and 1 model is the conventional) based on five healthy subjects. The results showed that all the classification models achieved accuracies ranging between 74–98%, and the processing speed is below 40 ms and indicated acceptable controller delay for robotic arm control. Moreover, we confirmed that the classification model with no time division, with TKEO, and with ensemble (subspace KNN) had the best performance in accuracy rates at 96.67, recall rates at 99.66, and precision rates at 96.99. In short, the combination of the proposed TKEO and ensemble (subspace KNN) plays an important role to achieve the EMG classification.