Study on upper limb joint angle prediction method based on sEMG

Abstract

Aiming at the problems of insufficient human-computer interaction and human-machine coupling in the rehabilitation training process, a prediction model of upper limb joint angle is proposed and verified by experiments. Firstly, a mixture vector that can well represent the motion intention of the upper limbs is obtained based on sEMG; secondly, the signal preprocessing, feature optimization and extraction of temporal eigenvalues are completed; finally, for the problems of unsatisfactory prediction accuracy and slow prediction speed of the current models in the field of motion control, the least square method (LSM) is adopted. The upper limb joint angle prediction is realized by multiplying the support vector machine (LSSVM) first. The experimental results show that the prediction model proposed in this paper can well predict the motion trajectory of the upper limb joints of the human body according to the sEMG and attitude information, effectively reduce the prediction time delay and error, and has certain advantages.

Keywords

• 上肢外骨骼
• 表面肌电信号
• 最小二乘支持向量机
• 连续运动估计