Myoelectric Control System Research Articles

A robust myoelectric pattern recognition framework based on individual motor unit activities against electrode array shifts

Background and objectiveElectrode shift is always one of the critical factors to compromise the performance of myoelectric pattern recognition (MPR) based on surface electromyogram (SEMG). However, current studies focused on the global features of SEMG signals to mitigate this issue but it is just an oversimplified description of the human movements without incorporating microscopic neural drive information. The objective of this work is to develop a novel method for calibrating the electrode array shifts toward achieving robust MPR, leveraging individual motor unit (MU) activities obtained through advanced SEMG decomposition. MethodsAll of the MUs from decomposition of SEMG data recorded at the original electrode array position were first initialized to train a neural network for pattern recognition. A part of decomposed MUs could be tracked and paired with MUs obtained at the original position based on spatial distribution of their MUAP waveforms, so as to determine the shift vector (describing both the orientation and distance of the shift) implicated consistently by these multiple MU pairs. Given the known shift vector, the features of the after-shift decomposed MUs were corrected accordingly and then fed into the network to finalize the MPR task. The performance of the proposed method was evaluated with data recorded by a 16 × 8 electrode array placed over the finger extensor muscles of 8 subjects performing 10 finger movement patterns. ResultsThe proposed method achieved a shift detection accuracy of 100 % and a pattern recognition accuracy approximating to 100 %, significantly outperforming the conventional methods with lower shift detection accuracies and lower pattern recognition accuracies (p < 0.05). ConclusionsOur method demonstrated the feasibility of using decomposed MUAP waveforms’ spatial distributions to calibrate electrode shift. This study provides a new tool to enhance the robustness of myoelectric control systems via microscopic neural drive information at an individual MU level.

Movements classification system for transhumeral amputees using myoelectric signals

The extent of loss of functionality in people with transhumeral amputation or elbow disarticulation is considered highly compromised. The person with this impairment loses the primary muscle involved in the movement of the hand and fingers, and the elbow flexion/extension. In this sense, the development of myoelectric prostheses must include mechanisms that replicate these movements. Moreover, the control system for controlling a prosthesis must be robust and intuitive, where pattern recognition and artificial intelligence techniques represent an important and increasingly explored alternative. This study aims to develop a movement intention classification system based on myoelectric signals (MES) obtained from an elbow disarticulation amputee. Different features were extracted from the MES as the Mean absolute value (MAV), zero crossings (ZC), slope sign changes (SSC), waveform length (WL), and autoregressive (AR) coefficients. Machine learning classifiers (Linear Discriminant Analysis (LDA), Quadratic Discriminant Analysis (QDA), Support Vector Machines (SVM), K-Nearest Neighbors (KNN), Random Forests (RF), and Multilayer Perceptron (MLP)) were used to predict seven gestures: elbow flexion (EF), elbow extension (EE), forearm pronation (FP), forearm supination (FS), hand opening (HO), hand closing (HC), and rest (R). The results obtained with LDA, QDA, KNN, MLP, SVM, and RF were 60.84%, 71.05%, 77.10%, 78.06%, 78.57%, and 79.72% of accuracy, respectively. These results are promising and will allow the development of a myoelectric prosthesis control system for people with transhumeral amputation or elbow disarticulation.

Comparing online wrist and forearm EMG-based control using a rhythm game-inspired evaluation environment

Objective.The use of electromyogram (EMG) signals recorded from the wrist is emerging as a desirable input modality for human-machine interaction (HMI). Although forearm-based EMG has been used for decades in prosthetics, there has been comparatively little prior work evaluating the performance of wrist-based control, especially in online, user-in-the-loop studies. Furthermore, despite different motivating use cases for wrist-based control, research has mostly adopted legacy prosthesis control evaluation frameworks.Approach.Gaining inspiration from rhythm games and the Schmidt's law speed-accuracy tradeoff, this work proposes a new temporally constrained evaluation environment with a linearly increasing difficulty to compare the online usability of wrist and forearm EMG. Compared to the more commonly used Fitts' Law-style testing, the proposed environment may offer different insights for emerging use cases of EMG as it decouples the machine learning algorithm's performance from proportional control, is easily generalizable to different gesture sets, and enables the extraction of a wide set of usability metrics that describe a users ability to successfully accomplish a task at a certain time with different levels of induced stress.Main results.The results suggest that wrist EMG-based control is comparable to that of forearm EMG when using traditional prosthesis control gestures and can even be better when using fine finger gestures. Additionally, the results suggest that as the difficulty of the environment increased, the online metrics and their correlation to the offline metrics decreased, highlighting the importance of evaluating myoelectric control in real-time evaluations over a range of difficulties.Significance.This work provides valuable insights into the future design and evaluation of myoelectric control systems for emerging HMI applications.

Unravelling Influence Factors in Pattern Recognition Myoelectric Control Systems: The Impact of Limb Positions and Electrode Shifts.

Pattern recognition (PR)-based myoelectric control systems can naturally provide multifunctional and intuitive control of upper limb prostheses and restore lost limb function, but understanding their robustness remains an open scientific question. This study investigates how limb positions and electrode shifts-two factors that have been suggested to cause classification deterioration-affect classifiers' performance by quantifying changes in the class distribution using each factor as a class and computing the repeatability and modified separability indices. Ten intact-limb participants took part in the study. Linear discriminant analysis (LDA) was used as the classifier. The results confirmed previous studies that limb positions and electrode shifts deteriorate classification performance (14-21% decrease) with no difference between factors (p > 0.05). When considering limb positions and electrode shifts as classes, we could classify them with an accuracy of 96.13 ± 1.44% and 65.40 ± 8.23% for single and all motions, respectively. Testing on five amputees corroborated the above findings. We have demonstrated that each factor introduces changes in the feature space that are statistically new class instances. Thus, the feature space contains two statistically classifiable clusters when the same motion is collected in two different limb positions or electrode shifts. Our results are a step forward in understanding PR schemes' challenges for myoelectric control of prostheses and further validation needs be conducted on more amputee-related datasets.

Understanding the influence of confounding factors in myoelectric control for discrete gesture recognition

Discrete myoelectric control-based gesture recognition has recently gained interest as a possible input modality for many emerging ubiquitous computing applications. Unlike the continuous control commonly employed in powered prostheses, discrete systems seek to recognize the dynamic sequences associated with gestures to generate event-based inputs. More akin to those used in general-purpose human-computer interaction, these could include, for example, a flick of the wrist to dismiss a phone call or a double tap of the index finger and thumb to silence an alarm. Moelectric control systems have been shown to achieve near-perfect classification accuracy, but in highly constrained offline settings. Real-world, online systems are subject to ‘confounding factors’ (i.e. factors that hinder the real-world robustness of myoelectric control that are not accounted for during typical offline analyses), which inevitably degrade system performance, limiting their practical use. Although these factors have been widely studied in continuous prosthesis control, there has been little exploration of their impacts on discrete myoelectric control systems for emerging applications and use cases. Correspondingly, this work examines, for the first time, three confounding factors and their effect on the robustness of discrete myoelectric control: (1) limb position variability, (2) cross-day use, and a newly identified confound faced by discrete systems (3) gesture elicitation speed. Results from four different discrete myoelectric control architectures: (1) Majority Vote LDA, (2) Dynamic Time Warping, (3) an LSTM network trained with Cross Entropy, and (4) an LSTM network trained with Contrastive Learning, show that classification accuracy is significantly degraded ( p< 0.05) as a result of each of these confounds. This work establishes that confounding factors are a critical barrier that must be addressed to enable the real-world adoption of discrete myoelectric control for robust and reliable gesture recognition.

Study on Gesture Recognition Method with Two-Stream Residual Network Fusing sEMG Signals and Acceleration Signals.

Currently, surface EMG signals have a wide range of applications in human-computer interaction systems. However, selecting features for gesture recognition models based on traditional machine learning can be challenging and may not yield satisfactory results. Considering the strong nonlinear generalization ability of neural networks, this paper proposes a two-stream residual network model with an attention mechanism for gesture recognition. One branch processes surface EMG signals, while the other processes hand acceleration signals. Segmented networks are utilized to fully extract the physiological and kinematic features of the hand. To enhance the model's capacity to learn crucial information, we introduce an attention mechanism after global average pooling. This mechanism strengthens relevant features and weakens irrelevant ones. Finally, the deep features obtained from the two branches of learning are fused to further improve the accuracy of multi-gesture recognition. The experiments conducted on the NinaPro DB2 public dataset resulted in a recognition accuracy of 88.25% for 49 gestures. This demonstrates that our network model can effectively capture gesture features, enhancing accuracy and robustness across various gestures. This approach to multi-source information fusion is expected to provide more accurate and real-time commands for exoskeleton robots and myoelectric prosthetic control systems, thereby enhancing the user experience and the naturalness of robot operation.

Improving sEMG-Based Hand Gesture Recognition through Optimizing Parameters and Sliding Voting Classifiers

In this paper, we present a preliminary study that proposes to improve surface electromyography (sEMG)-based hand gesture recognition through optimizing parameters and sliding voting classifiers. Targeting the high-performing myoelectric control system, the traditional methods for hand gesture recognition still need to further improve the classification accuracy and utilization rate for sEMG signals. Therefore, the proposed method first optimizes parameters to reduce redundant information by selecting the proper values for the window length, the overlapping rate, the number of channels, and the features of sEMG signals. In addition, the random forest (RF) classifier is an advanced classifier for sEMG-based hand gesture recognition. To further improve classification performance, this paper proposes a sliding voting random forest (SVRF) classifier which can reduce potential pseudo decisions made by the RF classifier. Finally, experiments were conducted using two sEMG datasets, named DB2 and DB4, from the NinaPro database, as well as self-collected data. The results illustrate a certain improvement in classification accuracy based on the optimized values for window length, overlapping rate, number of channels, and features of sEMG signals. And the SVRF classifier can significantly improve performance with higher accuracy compared with the traditional linear discriminate analysis (LDA), k-nearest neighbors (KNN), support vector machine (SVM), and RF classifiers.

Optimizing the performance of convolutional neural network for enhanced gesture recognition using sEMG

Deep neural networks (DNNs) have demonstrated higher performance results when compared to traditional approaches for implementing robust myoelectric control (MEC) systems. However, the delay induced by optimising a MEC remains a concern for real-time applications. As a result, an optimised DNN architecture based on fine-tuned hyperparameters is required. This study investigates the optimal configuration of convolutional neural network (CNN)-based MEC by proposing an effective data segmentation technique and a generalised set of hyperparameters. Firstly, two segmentation strategies (disjoint and overlap) and various segment and overlap sizes were studied to optimise segmentation parameters. Secondly, to address the challenge of optimising the hyperparameters of a DNN-based MEC system, the problem has been abstracted as an optimisation problem, and Bayesian optimisation has been used to solve it. From 20 healthy people, ten surface electromyography (sEMG) grasping movements abstracted from daily life were chosen as the target gesture set. With an ideal segment size of 200 ms and an overlap size of 80%, the results show that the overlap segmentation technique outperforms the disjoint segmentation technique (p-value < 0.05). In comparison to manual (12.76 ± 4.66), grid (0.10 ± 0.03), and random (0.12 ± 0.05) search hyperparameters optimisation strategies, the proposed optimisation technique resulted in a mean classification error rate (CER) of 0.08 ± 0.03 across all subjects. In addition, a generalised CNN architecture with an optimal set of hyperparameters is proposed. When tested separately on all individuals, the single generalised CNN architecture produced an overall CER of 0.09 ± 0.03. This study's significance lies in its contribution to the field of EMG signal processing by demonstrating the superiority of the overlap segmentation technique, optimizing CNN hyperparameters through Bayesian optimization, and offering practical insights for improving prosthetic control and human–computer interfaces.

Mitigating the Concurrent Interference of Electrode Shift and Loosening in Myoelectric Pattern Recognition Using Siamese Autoencoder Network.

The objective of this work is to develop a novel myoelectric pattern recognition (MPR) method to mitigate the concurrent interference of electrode shift and loosening, thereby improving the practicality of MPR-based gestural interfaces towards intelligent control. A Siamese auto-encoder network (SAEN) was established to learn robust feature representations against random occurrences of both electrode shift and loosening. The SAEN model was trained with a variety of shifted-view and masked-view feature maps, which were simulated through feature transformation operated on the original feature maps. Specifically, three mean square error (MSE) losses were devised to warrant the trained model's capability in adaptive recovery of any given interfered data. The SAEN was deployed as an independent feature extractor followed by a common support vector machine acting as the classifier. To evaluate the effectiveness of the proposed method, an eight-channel armband was adopted to collect surface electromyography (EMG) signals from nine subjects performing six gestures. Under the condition of concurrent interference, the proposed method achieved the highest classification accuracy in both offline and online testing compared to five common methods, with statistical significance (p <0.05). The proposed method was demonstrated to be effective in mitigating the electrode shift and loosening interferences. Our work offers a valuable solution for enhancing the robustness of myoelectric control systems.

A Novel Event-Driven Spiking Convolutional Neural Network for Electromyography Pattern Recognition.

Electromyography (EMG) pattern recognition is an important technology for prosthesis control and human-computer interaction etc. However, the practical application of EMG pattern recognition is hampered by poor accuracy and robustness due to electrode shift caused by repeated wearing of the signal acquisition device. Moreover, the user's acceptability is low due to the heavy training burden, which is caused by the need for a large amount of training data by traditional methods. In order to explore the advantage of spiking neural network (SNN) in solving the poor robustness and heavy training burden problems in EMG pattern recognition, a spiking convolutional neural network (SCNN) composed of cyclic convolutional neural network (CNN) and fully connected modules is proposed and implemented in this study. High density surface electromyography (HD-sEMG) signals collected from 6 gestures of 10 subjects at 6 electrode positions are taken as the research object. Compared to CNN with the same structure, CNN-Long Short Term Memory (CNN-LSTM), linear kernel linear discriminant analysis classifier (LDA) and spiking multilayer perceptron (Spiking MLP), the accuracy of SCNN is 50.69%, 33.92%, 32.94% and 9.41% higher in the small sample training experiment, 6.50%, 4.23%, 28.73%, and 2.57% higher in the electrode shifts experiment respectively. In addition, the power consumption of SCNN is about 1/93 of CNN. The advantages of the proposed framework in alleviating user training burden, mitigating the adverse effect of electrode shifts and reducing power consumption make it very meaningful for promoting the development of user-friendly real-time myoelectric control system.

Cross-user gesture recognition from sEMG signals using an optimal transport assisted student-teacher framework

The cross-user gesture recognition is a puzzle in the myoelectric control system, owing to great variability in muscle activities across different users. To address this problem, a novel optimal transport (OT) assisted student-teacher (ST) framework (termed OT-ST) was proposed in this paper to facilitate transfer across user domains in an unsupervised domain adaptation (UDA) manner. In this framework, the initial parameters of the ST models were trained with the labeled data from users in the source domain. In the model transfer stage for a new user in the target domain, the teacher model was utilized to generate pseudo labels for unlabeled testing samples, providing guidance to the adaptation of the student model. The OT algorithm was employed to optimize the pseudo labels generated from the teacher model, avoiding the model bias and further improving the effect of domain adaptation. The performance of the proposed OT-ST framework was evaluated via experiments of classifying seven hand gestures using high-density surface electromyogram (HD-sEMG) recordings from extensor digitorum muscles of eight intact-limbed subjects. The OT-ST framework yielded a high accuracy of 96.50 ± 2.88% for new users, and outperformed other common machine learning and UDA methods significantly (p < 0.01), demonstrating its effectiveness. The OT-ST framework does not require special repetitive training or any labeled data for calibration. In addition, it can incrementally learn from new testing samples and improve the recognition ability. This study provides a promising method for developing user-generic myoelectric pattern recognition, with wide applications in human-computer interaction, consumer electronics and prosthesis control.

Feasibility study on the application of a spiking neural network in myoelectric control systems.

In recent years, the effectiveness of a spiking neural network (SNN) for Electromyography (EMG) pattern recognition has been validated, but there is a lack of comprehensive consideration of the problems of heavy training burden, poor robustness, and high energy consumption in the application of actual myoelectric control systems. In order to explore the feasibility of the application of SNN in actual myoelectric control systems, this paper investigated an EMG pattern recognition scheme based on SNN. To alleviate the differences in EMG distribution caused by electrode shifts and individual differences, the adaptive threshold encoding was applied to gesture sample encoding. To improve the feature extraction ability of SNN, the leaky-integrate-and-fire (LIF) neuron that combines voltage-current effect was adopted as a spike neuron model. To balance recognition accuracy and power consumption, experiments were designed to determine encoding parameter and LIF neuron release threshold. By conducting the gesture recognition experiments considering different training test ratios, electrode shifts, and user independences on the nine-gesture high-density and low-density EMG datasets respectively, the advantages of the proposed SNN-based scheme have been verified. Compared with a Convolutional Neural Network (CNN), Long Short-Term Memory Network (LSTM) and Linear Discriminant Analysis (LDA), SNN can effectively reduce the number of repetitions in the training set, and its power consumption was reduced by 1-2 orders of magnitude. For the high-density and low-density EMG datasets, SNN improved the overall average accuracies by about (0.99 ~ 14.91%) under different training test ratios. For the high-density EMG dataset, the accuracy of SNN was improved by (0.94 ~ 13.76%) under electrode-shift condition and (3.81 ~ 18.95%) in user-independent case. The advantages of SNN in alleviating the user training burden, reducing power consumption, and improving robustness are of great significance for the implementation of user-friendly low-power myoelectric control systems.

An Innovative Human-Computer Interaction (HCI)

The interface between citizens and elegant cities is human computer interaction (HCI), a place that is crucial in bridging the application gap for information technology in contemporary cities. Hand gestures (HG) are generally recognized as a potential HCI technique, and the use of Surface Electromyograms (SEMG) to recognize Human Hand Gestures (HHG) is a significant area of study. Modern signal processing techniques, instead, are not robust in feature extraction utilizing Principal Component Analysis (PCA), using feature re-extraction, and guide respect with SEMG signals; there be motionless several technical issues that need to be resolved. The way for instance, can myoelectric control be kept available in intermittent use, as time variability has a significant negative impact on pattern recognition quality yet is unavoidable in regular use. Developing a solid HCI also requires ensuring the myoelectric control system's efficacy and dependability. In this study, Augmented Partial Swarm Optimization and Modified K-Nearest Neighbor (APSO- MKNN) are used in the HGR system that can eliminate redundant information in SEMG signals and increase the effectiveness and precision of recognition. The investigational findings help lower the time differences in Gesture Recognition (GR) based on SEMG.This study is focused on optimizing the time differences in SEMG pattern recognition. The identification approach that is proposed in this study has the possibility of increasing the long-term accuracy of the generalization of an HCI system. Additionally, the proposed framework can simplify the process of data collecting prior to having a gadget prepared and ready for usage.

Multiresolution Dual-Polynomial Decomposition Approach for Optimized Characterization of Motor Intent in Myoelectric Control Systems.

Surface electromyogram (sEMG) is arguably the most sought-after physiological signal with a broad spectrum of biomedical applications, especially in miniaturized rehabilitation robots such as multifunctional prostheses. The widespread use of sEMG to drive pattern recognition (PR)-based control schemes is primarily due to its rich motor information content and non-invasiveness. Moreover, sEMG recordings exhibit non-linear and non-uniformity properties with inevitable interferences that distort intrinsic characteristics of the signal, precluding existing signal processing methods from yielding requisite motor control information. Therefore, we propose a multiresolution decomposition driven by dual-polynomial interpolation (MRDPI) technique for adequate denoising and reconstruction of multi-class EMG signals to guarantee the dual-advantage of enhanced signal quality and motor information preservation. Parameters for optimal MRDPI configuration were constructed across combinations of thresholding estimation schemes and signal resolution levels using EMG datasets of amputees who performed up to 22 predefined upper-limb motions acquired in-house and from the public NinaPro database. Experimental results showed that the proposed method yielded signals that led to consistent and significantly better decoding performance for all metrics compared to existing methods across features, classifiers, and datasets, offering a potential solution for practical deployment of intuitive EMG-PR-based control schemes for multifunctional prostheses and other miniaturized rehabilitation robotic systems that utilize myoelectric signals as control inputs.

A Proposal of Bioinspired Soft Active Hand Prosthesis

Soft robotics have broken the rigid wall of interaction between humans and robots due to their own definition and manufacturing principles, allowing robotic systems to adapt to humans and enhance or restore their capabilities. In this research we propose a dexterous bioinspired soft active hand prosthesis based in the skeletal architecture of the human hand. The design includes the imitation of the musculoskeletal components and morphology of the human hand, allowing the prosthesis to emulate the biomechanical properties of the hand, which results in better grips and a natural design. CAD models for each of the bones were developed and 3D printing was used to manufacture the skeletal structure of the prosthesis, also soft materials were used for the musculoskeletal components. A myoelectric control system was developed using a recurrent neural network (RNN) to classify the hand gestures using electromyography signals; the RNN model achieved an accuracy of 87% during real time testing. Objects with different size, texture and shape were tested to validate the grasping performance of the prosthesis, showing good adaptability, soft grasping and mechanical compliance to object of the daily life.

Random forest-based simultaneous and proportional myoelectric control system for finger movements

A classification scheme for myoelectric control systems (MCS) cannot mimic complex hand movements. This paper presents simultaneous and proportional MCS by estimating the angles of fourteen finger joints using time-domain feature extraction and random forest. The experimental results show that the best feature was the root mean square (RMS). Furthermore, the random forest attained an average coefficient of determination (R2) of 0.85 compared to other regressors which perform below 0.75. The ANOVA tests indicated that the performance of the proposed system was significantly different. Therefore, the proposed system will be the best option for real-time MCS applications in the future.

Finch: Prosthetic Arm With Three Opposing Fingers Controlled by a Muscle Bulge.

Forearm amputees can use body-powered hooks and myoelectric hands for their daily activities. The body-powered hooks are suitable for delicate manipulation. However, their appearance is not always preferred by amputees, and a harness to pull a control cable is not easy to wear. Although the myoelectric hands have a natural appearance similar to the human hand and can be intuitively controlled by a myoelectric control system, they are not easy to try out and are heavy. This paper reports on the Finch, a prosthetic arm with three opposing fingers controlled by a muscle bulge. The aim of developing the Finch is to realize a lightweight prosthetic arm that is easy to wear and use. Three opposing fingers are controlled according to the degree of muscle bulge measured with a muscle bulge sensor on the user's forearm caused by muscle contraction. A supporter socket, consisting of a resin socket frame and a fabric supporter, allows easy fitting. A simple design using a linear actuator and 3D-printed parts achieved light weight (330 g) and low cost. Six functional tests and user tests using Southampton Hand Assessment Procedure showed that the Finch had a practical function that could be used in daily activities.

A Transformer-based Multi-task Learning Framework for Myoelectric Pattern Recognition Supporting Muscle Force Estimation.

Simultaneous implementation of myoelectric pattern recognition and muscle force estimation is highly demanded in building natural gestural interfaces but a challenging task due to the gesture classification accuracy degradation under varying muscle strengths. To address this problem, a novel method using transformer-based multi-task learning (MTL-Transformer) for the prediction of both myoelectric patterns and corresponding muscle strengths was proposed to describe the inherent characteristics of an individual gesture pattern under different force conditions, thereby improving the accuracy of myoelectric pattern recognition. In addition, the transformer model enabled the characterization of long-term temporal correlations to ensure precise and smooth estimation of the muscle force. The performance of the proposed MTL-Transformer framework was evaluated via experiments of classifying eleven hand gestures and estimating the corresponding muscle force simultaneously, using high-density surface electromyogram (HD-sEMG) recordings from forearm flexor muscles of eleven intact-limbed subjects. The MTL-Transformer framework yielded high classification accuracy (98.70±1.21%) and low root mean square deviation (12.59±2.76%), and outperformed other two common temporally modelling methods significantly (p < 0.05) in terms of both improved gesture recognition accuracies and reduced muscle force estimation errors. The MTL-Transformer framework is demonstrated as an effective solution for simultaneous implementation of myoelectric pattern recognition and muscle force estimation. This study promotes the development of robust and smooth myoelectric control systems, with wide applications in gestural interfaces, prosthetic and orthotic control.

Surface EMG Statistical and Performance Analysis of Targeted-Muscle-Reinnervated (TMR) Transhumeral Prosthesis Users in Home and Laboratory Settings.

A pattern-recognition (PR)-based myoelectric control system is the trend of future prostheses development. Compared with conventional prosthetic control systems, PR-based control systems provide high dexterity, with many studies achieving >95% accuracy in the last two decades. However, most research studies have been conducted in the laboratory. There is limited research investigating how EMG signals are acquired when users operate PR-based systems in their home and community environments. This study compares the statistical properties of surface electromyography (sEMG) signals used to calibrate prostheses and quantifies the quality of calibration sEMG data through separability indices, repeatability indices, and correlation coefficients in home and laboratory settings. The results demonstrate no significant differences in classification performance between home and laboratory environments in within-calibration classification error (home: 6.33 ± 2.13%, laboratory: 7.57 ± 3.44%). However, between-calibration classification errors (home: 40.61 ± 9.19%, laboratory: 44.98 ± 12.15%) were statistically different. Furthermore, the difference in all statistical properties of sEMG signals is significant (p < 0.05). Separability indices reveal that motion classes are more diverse in the home setting. In summary, differences in sEMG signals generated between home and laboratory only affect between-calibration performance.

Adaptive Lower Limb Pattern Recognition for Multi-Day Control.

Pattern recognition in EMG-based control systems suffer from increase in error rate over time, which could lead to unwanted behavior. This so-called concept drift in myoelectric control systems could be caused by fatigue, sensor replacement and varying skin conditions. To circumvent concept drift, adaptation strategies could be used to retrain a pattern recognition system, which could lead to comparable error rates over multiple days. In this study, we investigated the error rate development over one week and compared three adaptation strategies to reduce the error rate increase. The three adaptation strategies were based on entropy, on backward prediction and a combination of backward prediction and entropy. Ten able-bodied subjects were measured on four measurement days while performing gait-related activities. During the measurement electromyography and kinematics were recorded. The three adaptation strategies were implemented and compared against the baseline error rate and against adaptation using the ground truth labels. It can be concluded that without adaptation the baseline error rate increases significantly from day 1 to 2, but plateaus on day 2, 3 and 7. Of the three tested adaptation strategies, entropy based adaptation showed the smallest increase in error rate over time. It can be concluded that entropy based adaptation is simple to implement and can be considered a feasible adaptation strategy for lower limb pattern recognition.