Download - Experiences in the Creation of an Electromyography Database to Help Hand Amputated Persons
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Experiences in the Creation of an
Electromyography Database
to Help Hand Amputated Persons
Manfredo Atzori, Arjan Gijsberts, Simone Heynen,
Anne-Gabrielle Mittaz Hager, Claudio Castellini,
Barbara Caputo, Henning Müller
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Overview
• EMG and prosthetics
• Motivations and goals
• Acquisition setup and sensors
• Hand movements
• Results
– Electrodes
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Electromyography
• Electromyography (EMG) is the
measurement of electrical activity
that is created by muscle contractions
• The signal path
– Originates in a motor neuron
– Travels to the target muscle(s)
– Starts a series of electrochemical changes that lead
to an action potential
– Can be detected by one or more electrodes
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EMG controlled prosthetics
• 2-3 degrees of freedom
• Few programmed movements
• Very coarse force control
• No dexterous control
• No natural control
• Long training times
• This is in contrast to recent advances
in mechatronics!
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Motivation for the work
• NO large scale public sEMG databases, only
private ones
– (Fukuda, 2003; Tsuji 1993; Ferguson, 2002; Zecca,
2002; Chan, 2005; Sebelius, 2005; Castellini, 2008;
Jiang, 2009; Tenore, 2009; Castellini, 2009)
• NO common sEMG acquisition protocol
• NO common sEMG storage protocol
• NO Clinical Data Correlation Evaluation
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Goals
• Creation and refinement of an acquisition protocol
• Acquisition of a database
• Public release of the database
• Worldwide test of classification algorithms using the
same data and setup
– Improve quality of classification
– Transfer this knowledge to build better prostheses
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Acquisition setup
• Laptop: Dell Latitude E5520
• Digital Acquisition Card: National
Instruments 6023E
• sEMG Electrodes: 10 double-differential
Otto Bock 13E200
• Printed Circuit Board, Cables &
Connectors
• Data Glove 22 sensors Cyberglove II
(Cyberglove Systems)
• Inclinometer: Kübler 8.IS40.2341
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Sensor setup
• 8 equally spaced electrodes
• 2 electrodes on finger flexor and extensor muscles
• Two axes inclinometer
• Data glove
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Hand movements
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Hato, 2004
Sebelius, 2005
Farrel, 2008
Crawford, 2005
Exercise 1 12 movements
Exercise 2 17 movements
Training Training
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More movements
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Feix, 2008 DASH Score
Exercise 3 23 movements
Objects are simple tools to make
the protocol easy to reproduce
everywhere.
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Web-based database (http://ninapro.hevs.ch/)
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Data stored
• XML file with clinical and experimental information
• Unprocessed data (sEMG, Cyberglove,
Inclinometer, Movie)
• Preview picture for each exercise
• Picture of the arm without the acquisition setup
• Picture of the arm with the acquisition setup
• Currently stored: 27 intact subjects, 1 amputated
subject, several recordings for a few
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Gender 21 males 7 females
Handedness 26 right handed 2 left handed
Age 28.1 ± 3.4 years
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Electrode experiences
• Double differential potential
– Good signal to noise ratio
• Excellent comfort (no cleaning/
shaving)
• Classification results in
accordance with the scientific
literature (~7-20%)
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Two types of electrodes tested
• Otto Bock 13E200
– Root mean square rectification
– High pass filtering
– Sampling frequency: 100 Hz
• Delsys Trigno
– Raw signal
– Sampling frequency: 2KHz
– Wi-fi
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L. F. Law et al., 2010
L. F. Law et al., 2010
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Acquisition experiences (amputated)
• Dry the stump before the experiment
• Need of longer breaks between the exercises
• Modification of the instructions avoiding the concept
of an imaginary limb
• Elimination of a few movements from the protocol
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Acquisition experience (non amputated)
• Difficulty to place electrodes exactly in the same
position for subjects
– Need of spatial normalization as anatomy changes
and positions are not 100% stable
• Validation of the acquisition protocol with small
changes
– Function check of electrodes is required
– System needs to limit artifacts caused by users
• Removal of a few functional movements showing
high inter subject differences
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Conclusions
• Test and improvement of the acquisition setup
– Portable, based on research and industrial needs
• Test and improvement of the acquisition protocol
– Complete and easy to be reproduced
– Fixed several practical aspects
• Test and improvement of the hand movements
– 52, selected from robotics and medical literature
• Test of acquired sEMG signals (classification)
– Good SNR ratio
– Results in line with the scientific literature
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Questions, contacts?
• For more information:
• http://www.idiap.ch/project/ninapro/
• http://ninapro.hevs.ch
• Contacts:
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