Evolving Gaussian Process Autoregression Based Learning of Human Motion Intent Using Improved Energy Kernel Method of EMG

Continuous Motion Estimation of Knee Joint Based on a Parameter Self-Updating Mechanism Model

Estimation of continuous motion of human joints using surface electromyography (sEMG) signals has a critical part to play in intelligent rehabilitation. Traditional methods always use sEMG signals as inputs to build regression or biomechanical models to estimate continuous joint motion variables. However, it is challenging to accurately estimate continuous joint motion in new subjects due to the non-stationarity and individual differences in sEMG signals, which greatly limits the generalisability of the method. In this paper, a continuous motion estimation model for the human knee joint with a parameter self-updating mechanism based on the fusion of particle swarm optimization (PSO) and deep belief network (DBN) is proposed. According to the original sEMG signals of different subjects, the method adaptively optimized the parameters of the DBN model and completed the optimal reconstruction of signal feature structure in high-dimensional space to achieve the optimal estimation of continuous joint motion. Extensive experiments were conducted on knee joint motions. The results suggested that the average root mean square errors (RMSEs) of the proposed method were 9.42° and 7.36°, respectively, which was better than the results obtained by common neural networks. This finding lays a foundation for the human-robot interaction (HRI) of the exoskeleton robots based on the sEMG signals.

Joint torques estimation in human gait based on Gaussian process

BACKGROUND

Human gait involves activities in nervous and musculoskeletal dynamics to modulate joint torques with time continuously for adapting to varieties of walking conditions.

OBJECTIVE

The goal of this paper is to estimate the joint torques of lower limbs in human gait based on Gaussian process.

METHOD

The potential uses of this study include optimization of exoskeleton assistance, control of the active prostheses, and modulating the joint torque for human-like robots. To achieve this, Gaussian process (GP) based data fusion algorithm is established with joint angles as the inputs.

RESULTS

The statistic nature of the proposed model can explore the correlations between joint angles and joint torques, and enable accurate joint-torque estimations. Experiments were conducted for 5 subjects at three walking speed (0.8 m/s, 1.2 m/s, 1.6 m/s).

CONCLUSION

The results show that it is possible to estimate the joint torques at different scenarios.

Compressed Sensing Image Reconstruction of Ultrasound Image for Treatment of Early Traumatic Myositis Ossificans of Elbow Joint by Electroacupuncture

This article conducts a retrospective analysis of 500 patients with posttraumatic elbow dysfunction admitted to our department from March 2019 to September 2020. The average time from injury to operation is 11 months (2–20 months). We adopt a personalized treatment method to completely remove the hyperplastic adhesion tissue and heterotopic ossification around the joint, remove part of the joint capsule and ligament, and release it to achieve maximum function. After the operation, an external fixator was used to stabilize the loosened elbow joint, and the patient was guided to perform rehabilitation exercises with the aid of a hinged external fixator, and celecoxib was used to prevent heterotopic ossification. Mayo functional scoring system was used to evaluate the curative effect before and after surgery. The rapid realization of ultrasound imaging under the framework of compressed sensing is studied. Under the premise of ensuring the quality of ultrasound imaging reconstruction, the theory of ultrasound imaging is improved, and a plane wave acoustic scattering ultrasound echo model is established. On this basis, the theory of compressed sensing is introduced, the mathematical model of compressed sensing reconstruction is established, and the fast iterative shrinkage thresholding algorithm (FISTA) of compressed sensing reconstruction is improved to reduce the computational complexity and the number of iterations. This article uses FISTA directly to reconstruct medical ultrasound images, and the reconstruction results are not ideal. Therefore, a simulation model of FISTA training and testing was established using the standard image library. By adding different intensities of noise to all images in the image library, the influence of noise intensity on the quality of FISTA reconstructed images is analyzed, and it is found that the FISTA model has requirements for the quality of the images to be reconstructed and the training set images. In this paper, Rob's blind deconvolution restoration algorithm is used to preprocess the original ultrasound image. The clarity of the texture details of the restored ultrasound image is significantly improved, and the image quality is improved, which meets the above requirements. This paper finally formed a reconstruction model suitable for ultrasound images. The reconstruction strategy verified by the ultrasound images provided by the Institute of Ultrasound Imaging of a medical university has achieved a significant improvement in the quality of ultrasound images.

The Role of Surface Electromyography in Data Fusion with Inertial Sensors to Enhance Locomotion Recognition and Prediction

Locomotion recognition and prediction is essential for real-time human–machine interactive control. The integration of electromyography (EMG) with mechanical sensors could improve the performance of locomotion recognition. However, the potential of EMG in motion prediction is rarely discussed. This paper firstly investigated the effect of surface EMG on the prediction of locomotion while integrated with inertial data. We collected EMG signals of lower limb muscle groups and linear acceleration data of lower limb segments from ten healthy participants in seven locomotion activities. Classification models were built based on four machine learning methods—support vector machine (SVM), k-nearest neighbor (KNN), artificial neural network (ANN), and linear discriminant analysis (LDA)—where a major vote strategy and a content constraint rule were utilized for improving the online performance of the classification decision. We compared four classifiers and further investigated the effect of data fusion on the online locomotion classification. The results showed that the SVM model with a sliding window size of 80 ms achieved the best recognition performance. The fusion of EMG signals does not only improve the recognition accuracy of steady-state locomotion activity from 90% (using acceleration data only) to 98% (using data fusion) but also enables the prediction of the next steady locomotion (∼370 ms). The study demonstrates that the employment of EMG in locomotion recognition could enhance online prediction performance.

A Statistical Method for Exploratory Data Analysis Based on 2D and 3D Area under Curve Diagrams: Parkinson's Disease Investigation

A statistical method for exploratory data analysis based on 2D and 3D area under curve (AUC) diagrams was developed. The method was designed to analyze electroencephalogram (EEG), electromyogram (EMG), and tremorogram data collected from patients with Parkinson's disease. The idea of the method of wave train electrical activity analysis is that we consider the biomedical signal as a combination of the wave trains. The wave train is the increase in the power spectral density of the signal localized in time, frequency, and space. We detect the wave trains as the local maxima in the wavelet spectrograms. We do not consider wave trains as a special kind of signal. The wave train analysis method is different from standard signal analysis methods such as Fourier analysis and wavelet analysis in the following way. Existing methods for analyzing EEG, EMG, and tremor signals, such as wavelet analysis, focus on local time-frequency changes in the signal and therefore do not reveal the generalized properties of the signal. Other methods such as standard Fourier analysis ignore the local time-frequency changes in the characteristics of the signal and, consequently, lose a large amount of information that existed in the signal. The method of wave train electrical activity analysis resolves the contradiction between these two approaches because it addresses the generalized characteristics of the biomedical signal based on local time-frequency changes in the signal. We investigate the following wave train parameters: wave train central frequency, wave train maximal power spectral density, wave train duration in periods, and wave train bandwidth. We have developed special graphical diagrams, named AUC diagrams, to determine what wave trains are characteristic of neurodegenerative diseases. In this paper, we consider the following types of AUC diagrams: 2D and 3D diagrams. The technique of working with AUC diagrams is illustrated by examples of analysis of EMG in patients with Parkinson's disease and healthy volunteers. It is demonstrated that new regularities useful for the high-accuracy diagnosis of Parkinson's disease can be revealed using the method of analyzing the wave train electrical activity and AUC diagrams.

A Data-Driven Framework for Intention Prediction via Eye Movement With Applications to Assistive Systems

Fast and accurate human intention prediction can significantly advance the performance of assistive devices for patients with limited motor or communication abilities. Among available modalities, eye movement can be valuable for inferring the user's intention, as it can be tracked non-invasively. However, existing limited studies in this domain do not provide the level of accuracy required for the reliable operation of assistive systems. By taking a data-driven approach, this paper presents a new framework that utilizes the spatial and temporal patterns of eye movement along with deep learning to predict the user's intention. In the proposed framework, the spatial patterns of gaze are identified by clustering the gaze points based on their density over displayed images in order to find the regions of interest (ROIs). The temporal patterns of gaze are identified via hidden Markov models (HMMs) to find the transition sequence between ROIs. Transfer learning is utilized to identify the objects of interest in the displayed images. Finally, models are developed to predict the user's intention after completing the task as well as at early stages of the task. The proposed framework is evaluated in an experiment involving predicting intended daily-life activities. Results indicate that an average classification accuracy of 97.42% is achieved, which is considerably higher than existing gaze-based intention prediction studies.

Quantitative Assessment of Traumatic Upper-Limb Peripheral Nerve Injuries Using Surface Electromyography

Background

There is a great demand for convenient and quantitative assessment of upper-limb traumatic peripheral nerve injuries (PNIs) beyond their clinical routine. This would contribute to improved PNI management and rehabilitation.

Objective

The aim of this study was to develop a novel surface EMG examination method for quantitatively evaluating traumatic upper-limb PNIs.

Methods

Experiments were conducted to collect surface EMG data from forearm muscles on both sides of seven male subjects during their performance of eight designated hand and wrist motion tasks. All participants were clinically diagnosed as unilateral traumatic upper-limb PNIs on the ulnar nerve, median nerve, or radial nerve. Ten healthy control participants were also enrolled in the study. A novel framework consisting of two modules was also proposed for data analysis. One module was first used to identify whether a PNI occurs on a tested forearm using a machine learning algorithm by extracting and classifying features from surface EMG data. The second module was then used to quantitatively evaluate the degree of injury on three individual nerves on the examined arm.

Results

The evaluation scores yielded by the proposed method were highly consistent with the clinical assessment decisions for three nerves of all 34 examined arms (7 × 2 + 10 × 2), with a sensitivity of 81.82%, specificity of 98.90%, and significate linear correlation (p < 0.05) in quantitative decision points between the proposed method and the routine clinical approach.

Conclusion

This study offers a useful tool for PNI assessment and helps to promote extensive clinical applications of surface EMG.

Evaluation of Non-Invasive Ankle Joint Effort Prediction Methods for Use in Neurorehabilitation Using Electromyography and Ultrasound Imaging

OBJECTIVE

Reliable measurement of voluntary human effort is essential for effective and safe interaction between the wearer and an assistive robot. Existing voluntary effort prediction methods that use surface electromyography (sEMG) are susceptible to prediction inaccuracies due to non-selectivity in measuring muscle responses. This technical challenge motivates an investigation into alternative non-invasive effort prediction methods that directly visualize the muscle response and improve effort prediction accuracy. The paper is a comparative study of ultrasound imaging (US)-derived neuromuscular signals and sEMG signals for their use in predicting isometric ankle dorsiflexion moment. Furthermore, the study evaluates the prediction accuracy of model-based and model-free voluntary effort prediction approaches that use these signals.

METHODS

The study evaluates sEMG signals and three US imaging-derived signals: pennation angle, muscle fascicle length, and echogenicity and three voluntary effort prediction methods: linear regression (LR), feedforward neural network (FFNN), and Hill-type neuromuscular model (HNM).

RESULTS

In all the prediction methods, pennation angle and fascicle length significantly improve the prediction accuracy of dorsiflexion moment, when compared to echogenicity. Also, compared to LR, both FFNN and HNM improve dorsiflexion moment prediction accuracy.

CONCLUSION

The findings indicate FFNN or HNM approach and using pennation angle or fascicle length predict human ankle movement intent with higher accuracy.

SIGNIFICANCE

The accurate ankle effort prediction will pave the path to safe and reliable robotic assistance in patients with drop foot.

Dependent-Gaussian-Process-Based Learning of Joint Torques Using Wearable Smart Shoes for Exoskeleton

Estimating the joint torques of lower limbs in human gait is a highly challenging task and of great significance in developing high-level controllers for lower-limb exoskeletons. This paper presents a dependent Gaussian process (DGP)-based learning algorithm for joint-torque estimations with measurements from wearable smart shoes. The DGP was established to perform data fusion, and serves as the mathematical foundation to explore the correlations between joint kinematics and joint torques that are embedded deeply in the data. As joint kinematics are used in the training phase rather than the prediction process, the DGP model can realize accurate predictions in outdoor activities by using only the smart shoe, which is low-cost, nonintrusive for human gait, and comfortable to wearers. The design methodology of dynamic specific kernel functions is presented in accordance to prior knowledge of the measured signals. The designed composite kernel functions can be used to model multiple features at different scales, and cope with the temporal evolution of human gait. The statistical nature of the proposed DGP model and the composite kernel functions offer superior flexibility for time-varying gait-pattern learning, and enable accurate joint-torque estimations. Experiments were conducted with five subjects, whose results showed that it is possible to estimate joint torques under different trained and untrained speed levels. Comparisons were made between the proposed DGP and Gaussian process (GP) models. Obvious improvements were achieved when all DGP r² values were higher than those of GP.

Gaussian Process-Integrated State Space Model for Continuous Joint Angle Prediction from EMG and Interactive Force in a Human-Exoskeleton System

As one of the most direct indicators of the transparency between a human and an exoskeleton, interactive force has rarely been fused with electromyography (EMG) in the control of human-exoskeleton systems, the performances of which are largely determined by the accuracy of the continuous joint angle prediction. To achieve intuitive and naturalistic human intent learning, a state space model (SSM) for continuous angle prediction of knee joint is developed. When the influence of the interactive force is often ignored in the existing models of human-exoskeleton systems, interactive force is applied as the measurement model output of the proposed SSM, and the EMG signal is used as the state model input signal to indicate muscle activation. The forward dynamics of joint motion and the human-machine interaction mechanism, i.e., the biomechanical interpretations of the interactive force generation mechanism, are derived as the bases for the state model and measurement model based on Hill’s muscle model and semiphenomenological (SP) muscular model, respectively. Gaussian process (GP)-based nonlinear autoregressive with the exogenous inputs (NARX) model and back-propagation neural network (BPNN) are applied to provide better adaptivity for the SSM in practical applications. Corresponding experimental results demonstrate the validity and superiority of the method.