EMG-Based Real-Time Linear-Nonlinear Cascade Regression Decoding of Shoulder, Elbow, and Wrist Movements in...

This study aimed to decode shoulder, elbow and wrist dynamic movements continuously and simultaneously based on multi-channel surface electromyography signals, useful for electromyography controlled exoskeleton robots for upper-limb rehabilitation.

Ten able-bodied subjects and ten stroke subjects were instructed to voluntarily move the shoulder, elbow and wrist joints back and forth in a horizontal plane with an exoskeleton robot. The shoulder, elbow and wrist movements and surface electromyography signals from six muscles crossing the joints were recorded. A set of three parallel linear-nonlinear cascade decoders was developed to continuously estimate the selected shoulder, elbow and wrist movements based on a generalized linear model using the anterior deltoid, posterior deltoid, biceps brachii, long head triceps brachii, flexor carpi radialis, and extensor carpi radialis muscle electromyography signals as the model inputs.

The decoder performed well for both healthy and stroke populations. As movement smoothness decreased, decoding performance decreased for the stroke population.

The proposed method is capable of simultaneously and continuously estimating multi-joint movements of the human arm in real-time by characterizing the nonlinear mappings between muscle activity and kinematic signals based on linear regression.

This may prove useful in developing myoelectric controlled exoskeletons for motor rehabilitation of neurological disorders.