Analysis of Surface EMG Signals to Control of a Bionic Hand Prototype with Its Implementation

摘要

The primary objective of the presented study is to develop a comprehensive system for the acquisition of surface electromyographic (sEMG) data and to perform time-frequency analysis aimed at extracting discriminative features for the classification of hand gestures intended for the control of a simplified bionic hand prosthesis. The proposed system is designed to facilitate precise finger gesture execution in both prosthetic and robotic hand applications. This article outlines the methodology for multi-channel sEMG signal acquisition and processing, as well as the extraction of relevant features for gesture recognition using artificial neural networks (ANNs) and other well-established machine learning (ML) algorithms. Electromyographic signals were acquired using a prototypical LPCXpresso LPC1347 ARM Cortex M3 (NXP, Eindhoven, Holland) development board in conjunction with surface EMG sensors of the Gravity OYMotion SEN0240 type (DFRobot, Shanghai, China). Signal processing and feature extraction were carried out in the MATLAB 2024b environment, utilizing both the Fourier transform and the Hilbert-Huang transform to extract selected time-frequency characteristics of the sEMG signals. An artificial neural network (ANN) was implemented and trained within the same computational framework. The experimental protocol involved 109 healthy volunteers, each performing five predefined gestures of the right hand. The first electrode was positioned on the brachioradialis (BR) muscle, with subsequent channels arranged laterally outward from the perspective of the participant. Comprehensive analyses were conducted in the time domain, frequency domain, and time-frequency domain to evaluate signal properties and identify features relevant to gesture classification. The bionic hand prototype was fabricated using 3D printing technology with a PETG filament (Spectrum, Pęcice, Poland). Actuation of the fingers was achieved using six MG996R servo motors (TowerPro, Shenzhen, China), each with an angular range of 180∘, controlled via a PCA9685 driver board (Adafruit, New York, NY, USA) connected to the main control unit.