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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 ()