Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Optimization-based Real-time Human Elbow Joint Angle Extraction Method

최적화 기반 인간 팔꿈치 관절각 실시간 추출 방법

  • 최영진 (한양대학교 전자컴퓨터공학부) ;
  • 유현재 (한양대학교 대학원 전자전기제어계측공학과)
  • Published : 2008.12.01
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Abstract

An optimization-based real-time joint angle extraction method of human elbow is proposed by processing the biomedical signal of surface EMG (electromyogram) measured at the center point of biceps brachii. The EMG signal is known as non-stationary (time-varying) 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 an optimization method to minimize the error between the pre-angle and real joint angle is proposed in this paper. Finally, we suggest the experimental results showing the effectiveness of the proposed algorithm.

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References

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