第二章 基於 EMG 之機器臂定位系統 · 8 第二章 基於EMG 之機器臂定位系統...

8

EMG

EMG

2.1 EMG

EMG

EMG

EMG

2.1 2.2

EMG

EMG EMG

EMG

2.3

2.4

9

2.1

EMG

EMG [31] ICA

[32]

2.2

Biceps brachii

BrachialisBrachioradialis 2.3

TricepsAnconeus 2.4

Pronator quadratusPronator

2.5Biceps brachii

Supinator 2.6

EMG

2.1

10

EMG

EMG

Biceps brachii

BrachialisBrachioradialis

TricepsAnconeus

(11))

EMG

crosstalk

(2)

(3)

Biceps brachii

EMG [2]

EMG [33]

11

2.2 [33]

2.3 [33]

2.4 [33]

12

-

2.5 [33]

2.6 [33]

13

2.2

(

S3 S2 S1) 2.7

(a) (b) 2.7 : (a)(b)

1Vv

= 1S - 2S (2.1)

2Vv

= 3S - 2S (2.2)

cos = 21

21

vvvvvv

vv

= 1cos (21

21

vvvvvv

vv

)

EMG

EMG

S1

S2

S3

S1

S2

S3 1

2

(2.3)

(2.4)

14

2.3

EMG EMG

EMG EMG

2.8 EMG ECG

crosstalk60Hz

ECG ECG

crosstalk

ECG crosstalk ECG

crosstalk 60Hz

[29,30][2]

EMG 50~150Hz

EMG

0~20Hz EMG

EMG

EMG

EMG

15

2.8 EMG [8]

16

EMG 0-500Hz

50-150Hz

0-20Hz

Butterworth

20Hz 400Hz

MAV

[1,3,15,26]VAR[9,14,20,25]ZC[1,9,14,20] WAMP[14,20]

2.1 kX k EMG N

EMG

2.1

1. MAV (Mean Absolute Value)

1

1 Nk

kMAV X

N ==

3. BZC (Bias Zero-Crossing)

[ ]11

sgn ( 0.4) ( 0.4)

1 , if 0sgn( )

0 , others

N

k kk

BZC X X

xx

=

=

>=

2. VAR (Variance)

2

1

11

N

kk

VAR XN =

=

4. WAMP (Willison Amplitude)

11

( );

1 , if ( )

0 , if otherwise

N

k kk

WAMP f X X

x thresholdf x

=

=

>=

17

2.1 MAV N

VAR EMG

MAV VAR

BZC [14] ZC

0.4

EMG

WAMP ZC

MAV

MAV EMG window 200EMG

2.4

(supervised learning) MLP (Multilayer Perceptron) RBF (Radial

Basis Function)

(backpropagation algorithm)

(unsupervised learning)

SOM(Self-Organizing Map)(Adaptive Reasonance Theory)

(learning vector quantization)

(clustering)

18

EMG

EMG SOM

(Mapping)(short-term

memory) Barreto

Self-Organizing Map (SOM) Vector-Quantized Temporal Associative

Memory (VQTAM) [10] Win

Wout Win Wout

SOM

MLP RBF

MLP RBF 2.9

2.9

( )nX in MAV EMG ( )nX out

2.9

19

101 ( )nX in j *

j * = arg min , j = 1,2.n (2.5) ( )nX in ( )nX out (2.6)

(2.7)

)(n : 40)exp(-time/*0.7)( =n time (2.8)

*, jj

= 2

2*,

*, 2exp)(

jjjj

dn (2.9)

35))^2exp(-time/*((N/2)= N

( ))()( **, nrnrd jjjj = (2.10)

)(nrj joutput array )(* nrj output

arrayEMGy: (2.11)

VQTAM

outjW

EMG injW

outjW

EMG

3090 150 EMG 2.10

EMG

EMG

( ))()()()()()1( *, nWnxnnnWnW outjoutjjoutjoutj +=+

outjWy *=

)()( nWnx injin

( ))()()()()()1( *, nWnxnnnWnW injinjjinjinj +=+

20

EMG

EMG

0 100 200 300 400 500 600 700 800 900 10000

20

40

60

80

100

120

140

160

time

degr

ee

degree

0 100 200 300 400 500 600 700 800 900 10000

0.5

1

1.5

2

2.5EMG

time

EM

G a

mpl

itude

EMG

(a) (b) EMG

2.10 EMG

20 EMG EMG

EMG

2.11

EMG

EMG

2.11 ()