CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
BP-AR-BASED HUMAN JOINT ANGLE ESTIMATION USING MULTI-CHANNEL SEMG
Tong, Lina1,2; Zhang, Feng2; Hou, Zeng-Guang2; Wang, Weiqun2; Peng, Liang2
Source PublicationINTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION
2015
Volume30Issue:3Pages:227-237
SubtypeArticle
AbstractHuman motion estimation by surface electromyogram (sEMG) is one of the most important human intention recognition methods for active rehabilitation training. This paper proposes a back propagation (BP) neural network and autoregressive (AR) model based real-time sEMG-joint angle estimation method. To reduce the time delay, a moving Butterworth filtering method is designed to filter the lower limb multi-channel sEMG signals. Then correlation analysis between sEMG signals and joint angles is made to reduce redundant channels. A first-order BP neural network is used to build the mapping relationship between multi-channel sEMG signals and joint angles, then the approximated angle by BP model is adjusted by the AR de-noising model, which describes the angle variation features of the given training mode to improve the accuracy and continuity. To validate this method, five able-bodied subjects participated in cycling exercise experiment, and the angle estimation results show that this method presents a good performance on real-time computation, accuracy and continuity.
KeywordSemg-joint Angle Estimation Rehabilitation Moving Butterworth Filtering Method Bp Neural Network Autoregressive (Ar) Model
WOS HeadingsScience & Technology ; Technology
DOI10.2316/Journal.206.2015.3.206-4080
WOS KeywordNEURAL-NETWORK ; STROKE ; EMG ; SIGNALS ; ROBOT
Indexed BySCI
Language英语
WOS Research AreaAutomation & Control Systems ; Robotics
WOS SubjectAutomation & Control Systems ; Robotics
WOS IDWOS:000360019300003
Citation statistics
Cited Times:3[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/8963
Collection复杂系统管理与控制国家重点实验室_先进机器人
Affiliation1.China Univ Min & Technol, Sch Mech Elect & Informat Engn, Beijing, Peoples R China
2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100864, Peoples R China
Recommended Citation
GB/T 7714
Tong, Lina,Zhang, Feng,Hou, Zeng-Guang,et al. BP-AR-BASED HUMAN JOINT ANGLE ESTIMATION USING MULTI-CHANNEL SEMG[J]. INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION,2015,30(3):227-237.
APA Tong, Lina,Zhang, Feng,Hou, Zeng-Guang,Wang, Weiqun,&Peng, Liang.(2015).BP-AR-BASED HUMAN JOINT ANGLE ESTIMATION USING MULTI-CHANNEL SEMG.INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION,30(3),227-237.
MLA Tong, Lina,et al."BP-AR-BASED HUMAN JOINT ANGLE ESTIMATION USING MULTI-CHANNEL SEMG".INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION 30.3(2015):227-237.
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