EMG-based Real-Time Joint Angle Extraction Method for Human Elbow: Pre-processing and Optimization Process

초록

This paper proposes a real-time joint angle ex- traction method of human elbow by processing the biomedical signal of surface EMG (electromyogram) measured at the center point of biceps brachii. Actually, the EMG is known as non- stationary signal, but we assume that it is quasi-stationary because a physical or physiological system has limitations in the rate at which it can change its characteristics. Based on the assumption, a pre-processing method to obtain pre-angle values from raw EMG signal is firstly suggested, and then a optimization method to minimize the error between the pre- angle and real joint angle is proposed in this paper. Finally, we show the effectiveness of the suggested algorithm through experimental results