MCSNet: Channel Synergy-Based Human-Exoskeleton Interface With Surface Electromyogram

摘要

The human-robot interface (HRI) based on biological signals can realize the natural interaction between human and robot. It has been widely used in exoskeleton robots recently to help predict the wearer's movement. Surface electromyography (sEMG)-based HRI has mature applications on the exoskeleton. However, the sEMG signals of paraplegic patients' lower limbs are weak, which means that most HRI based on lower limb sEMG signals cannot be applied to the exoskeleton. Few studies have explored the possibility of using upper limb sEMG signals to predict lower limb movement. In addition, most HRIs do not consider the contribution and synergy of sEMG signal channels. This paper proposes a human-exoskeleton interface based on upper limb sEMG signals to predict lower limb movements of paraplegic patients. The interface constructs an channel synergy-based network (MCSNet) to extract the contribution and synergy of different feature channels. An sEMG data acquisition experiment is designed to verify the effectiveness of MCSNet. The experimental results show that our method has a good movement prediction performance in both within-subject and cross-subject situations, reaching an accuracy of 94.51 and 80.75%, respectively. Furthermore, feature visualization and model ablation analysis show that the features extracted by MCSNet are physiologically interpretable.