Comprehensive Analysis of an EMG Based Human-Robot Interface Using Various Machine Learning Techniques

摘要

Electromyography (EMG) signals hold critical significance in biomedical research, capturing muscle electrical activity during rest and contraction in the upper limb. Their versatility in applications, particularly in human-assisting robotic tools, drives ongoing exploration and research. This paper presents an original study focusing on leveraging machine learning techniques to classify EMG datasets and efficiently control a robotic arm based on predicted gestures. Data acquisition involves strategically placing an EMG muscle sensor on the forearm to ensure precise measurement of signals associated with hand gestures and movements. Diverse classifiers including random forest, support vector machine (SVM), K-nearest neighbors (KNN), Gaussian naïve Bayes, gated recurrent unit (GRU), long short-term memory (LSTM), artificial neural network (ANN), recurrent neural network (RNN), convolutional neural network (CNN), and vision transformer (ViT) are employed. Performance results are meticulously analyzed and presented in tabular format, showcasing the ViT classifier as the most successful, achieving an impressive 97.7% accuracy in robotic arm control. Notably, ANN, RNN, and CNN also exhibit high accuracy exceeding 90%. Furthermore, this work is comprehensively compared with existing literature, laying the groundwork for future advancements in human-robot interaction and cutting-edge assistive technologies that markedly enhance the quality of life for individuals with motor impairments or disabilities. The findings carry significant implications for designing and implementing intuitive, responsive robotic systems based on EMG signals.