Fine detection of grasp force and posture by amputees via surface electromyography

The state-of-the-art feed-forward control of active hand prostheses is rather poor. Even dexterous, multi-fingered commercial prostheses are controlled via surface electromyography (EMG) in a way that enforces a few fixed grasping postures, or a very basic estimate of force. Control is not natural, meaning that the amputee must learn to associate, e.g., wrist flexion and hand closing. Nevertheless, recent literature indicates that much more information can be gathered from plain, old surface EMG. To check this issue, we have performed an experiment in which three amputees train a Support Vector Machine (SVM) using five commercially available EMG electrodes while asked to perform various grasping postures and forces with their phantom limbs. In agreement with recent neurological studies on cortical plasticity, we show that amputees operated decades ago can still produce distinct and stable signals for each posture and force. The SVM classifies the posture up to a precision of 95% and approximates the force with an error of as little as 7% of the signal range, sample-by-sample at 25 Hz. These values are in line with results previously obtained by healthy subjects while feed-forward controlling a dexterous mechanical hand. We then conclude that our subjects could finely feed-forward control a dexterous prosthesis in both force and position, using standard EMG in a natural way, that is, using the phantom limb.     

Self-selected modular recurrent neural networks with postural and inertial subnetworks applied to complex movements

 It has been shown that dynamic recurrent neural networks are successful in identifying the complex mapping relationship between full-wave-rectified electromyographic (EMG) signals and limb trajectories during complex movements. These connectionist models include two types of adaptive parameters: the interconnection weights between the units and the time constants associated to each neuron-like unit; they are governed by continuous-time equations. Due to their internal structure, these models are particularly appropriate to solve dynamical tasks (with time-varying input and output signals). We show in this paper that the introduction of a modular organization dedicated to different aspects of the dynamical mapping including privileged communication channels can refine the architecture of these recurrent networks. We first divide the initial individual network into two communicating subnetworks. These two modules receive the same EMG signals as input but are involved in different identification tasks related to position and acceleration. We then show that the introduction of an artificial distance in the model (using a Gaussian modulation factor of weights) induces a reduced modular architecture based on a self-elimination of null synaptic weights. Moreover, this self-selected reduced model based on two subnetworks performs the identification task better than the original single network while using fewer free parameters (better learning curve and better identification quality). We also show that this modular network exhibits several features that can be considered as biologically plausible after the learning process: self-selection of a specific inhibitory communicating path between both subnetworks after the learning process, appearance of tonic and phasic neurons, and coherent distribution of the values of the time constants within each subnetwork. Received: 17 September 2001 / Accepted in revised form: 15 January 2002     

Modular neuromuscular control of human locomotion by central pattern generator

The central pattern generators (CPG) in the spinal cord are thought to be responsible for producing the rhythmic motor patterns during rhythmic activities. For locomotor tasks, this involves much complexity, due to a redundant system of muscle actuators with a large number of highly nonlinear muscles. This study proposes a reduced neural control strategy for the CPG, based on modular organization of the co-active muscles, i.e., muscle synergies. Four synergies were extracted from the EMG data of the major leg muscles of two subjects, during two gait trials each, using non-negative matrix factorization algorithm. A Matsuoka׳s four-neuron CPG model with mutual inhibition, was utilized to generate the rhythmic activation patterns of the muscle synergies, using the hip flexion angle and foot contact force information from the sensory afferents as inputs. The model parameters were tuned using the experimental data of one gait trial, which resulted in a good fitting accuracy (RMSEs between 0.0491 and 0.1399) between the simulation and experimental synergy activations. The model׳s performance was then assessed by comparing its predictions for the activation patterns of the individual leg muscles during locomotion with the relevant EMG data. Results indicated that the characteristic features of the complex activation patterns of the muscles were well reproduced by the model for different gait trials and subjects. In general, the CPG- and muscle synergy-based model was promising in view of its simple architecture, yet extensive potentials for neuromuscular control, e.g., resolving redundancies, distributed and fast control, and modulation of locomotion by simple control signals.     

Age-related changes in multifinger synergies in accurate moment of force production tasks.

The purpose of this investigation was to document and quantify age-related differences in the coordination of fingers during a task that required production of an accurate time profile of the total moment of force by the four fingers of a hand. We hypothesized that elderly subjects would show a decreased ability to stabilize a time profile of the total moment of force, leading to larger indexes of moment variability compared with young subjects. The subjects followed a trapezoidal template on a computer screen by producing a time profile of the total moment of force while pressing down on force sensors with the four fingers of the right (dominant) hand. To quantify synergies, we used the framework of the uncontrolled manifold hypothesis. The elderly subjects produced larger total force, larger variance of both total force and total moment of force, and larger involvement of fingers that produced moment of force against the required moment direction (antagonist moment). This was particularly prominent during supination efforts. Young subjects showed covariation of commands to fingers across trials that stabilized the moment of total force (moment-stabilizing synergy), while elderly subjects failed to do so. Both subject groups showed similar indexes of covariation of commands to the fingers that stabilized the time profile of the total force. The lack of moment-stabilizing synergies may be causally related to the documented impairment of hand function with age.     

Task failure during fatiguing contractions performed by humans.

By comparing the physiological adjustments that occur when two similar fatiguing contractions are performed to failure, it is possible to identify mechanisms that limit the duration of the more difficult task. This approach has been used to study two fatiguing contractions, referred to as the force and position tasks, which differed in the type of feedback given to the subject and the amount of support provided by the surroundings. Even though the two tasks required a similar net muscle torque during submaximal isometric contractions, the duration that the position task could be sustained was consistently much briefer than that for the force task. The position task involved a greater rate of increase in EMG activity and more marked changes in motor unit recruitment and rate coding compared with the force task. These observations are consistent with the hypothesis that the motor unit pool was recruited more rapidly during the position task. The difference in motor unit behavior appeared to be caused by variation in synaptic input, likely involving heightened sensitivity of the stretch reflex during the position task. Upon repeat performances of the two fatiguing contractions, some subjects were able to increase the time to failure for the force task but not the position task. Furthermore, the time to failure for the position task could be influenced by the postural demands associated with maintaining the position of the limb, and the difference in the two durations was enhanced when the postural activity evoked a pressor response. These observations indicate that the difference in the duration of the two fatiguing contractions was attributable to differences in the control strategy used to sustain the tasks and the magnitude of the associated postural activity.     

Two degrees of freedom quasi-static EMG-force at the wrist using a minimum number of electrodes

Surface electromyogram-controlled powered hand/wrist prostheses return partial upper-limb function to limb-absent persons. Typically, one degree of freedom (DoF) is controlled at a time, with mode switching between DoFs. Recent research has explored using large-channel EMG systems to provide simultaneous, independent and proportional (SIP) control of two joints—but such systems are not practical in current commercial prostheses. Thus, we investigated site selection of a minimum number of conventional EMG electrodes in an EMG-force task, targeting four sites for a two DoF controller. In a laboratory experiment with 10 able-bodied subjects and three limb-absent subjects, 16 electrodes were placed about the proximal forearm. Subjects produced 1-DoF and 2-DoF slowly force-varying contractions up to 30% maximum voluntary contraction (MVC). EMG standard deviation was related to forces via regularized regression. Backward stepwise selection was used to retain those progressively fewer electrodes that exhibited minimum error. For 1-DoF models using two retained electrodes (which mimics the current state of the art), subjects had average RMS errors of (depending on the DoF): 7.1–9.5% MVC for able-bodied and 13.7–17.1% MVC for limb-absent subjects. For 2-DoF models, subjects using four electrodes had errors on 1-DoF trials of 6.7–8.5% MVC for able-bodied and 11.9–14.0% MVC for limb-absent; and errors on 2-DoF trials of 9.9–11.2% MVC for able-bodied and 15.8–16.7% MVC for limb-absent subjects. For each model, retaining more electrodes did not statistically improve performance. The able-bodied results suggest that backward selection is a viable method for minimum error selection of as few as four electrode sites for these EMG-force tasks. Performance evaluation in a prosthesis control task is a necessary and logical next step for this site selection method.     

Three-dimensional model to predict muscle forces and their relation to motor variances in reaching arm movements

A three-dimensional (3-D) arm movement model is presented to simulate kinematic properties and muscle forces in reaching arm movements. Healthy subjects performed reaching movements repetitively either with or without a load in the hand. Joint coordinates were measured. Muscle moment arms, 3-D angular acceleration, and moment of inertias of arm segments were calculated to determine 3-D joint torques. Variances of hand position, arm configuration, and muscle activities were calculated. Ratios of movement variances observed in the two conditions (load versus without load) showed no differences for hand position and arm configuration variances. Virtual muscle force variances for all muscles except deltoid posterior and EMG variances for four muscles increased significantly by moving with the load. The greatly increased variances in muscle activity did not imply equally high increments in kinematic variances. We conclude that enhanced muscle cooperation through synergies helps to stabilize movement at the kinematic level when a load is added.     

An analysis of muscular load and performance in using a pen-tablet system

The present paper aims to investigate two characteristics; task performance and muscular load during skill process for the pen-tablet input system with the mouse input system on the PC in order to determine the comprehensive usability for the pen-tablet system. Two computer tasks were designed for the study: task SL and task PT. Task SL was a repetitive computer-drawing including typical mouse motions such as clicking and drag-dropping. Task PT was a polygon tracing task requiring fine-controlled movements with the input device. Surface electromyography (EMG) and performance data were measured during the task. When the pen-tablet was being used, low amplitudes of EMGs for the biceps brachii, the flexor digitorum superficialis, and the extensor digitorum were found, whereas no EMG difference for the trapezius was found for both tasks. On the first day, the performance with the mouse was much higher than the performance with the pen-tablet in terms of error rates and the number of completed trials. However, the performance with the pen-tablet exceeded the performance with the mouse from the second day on, and the subjects performed better with the pen-tablet than with the mouse. Current results imply that the skill process for the pen-tablet system was very short and the subjects felt comfortable to use the new system from the beginning.     

Learned Manipulation at Unconstrained Contacts Does Not Transfer across Hands

Recent studies about sensorimotor control of the human hand have focused on how dexterous manipulation is learned and generalized. Here we address this question by testing the extent to which learned manipulation can be transferred when the contralateral hand is used and/or object orientation is reversed. We asked subjects to use a precision grip to lift a grip device with an asymmetrical mass distribution while minimizing object roll during lifting by generating a compensatory torque. Subjects were allowed to grasp anywhere on the object’s vertical surfaces, and were therefore able to modulate both digit positions and forces. After every block of eight trials performed in one manipulation context (i.e., using the right hand and at a given object orientation), subjects had to lift the same object in the second context for one trial (transfer trial). Context changes were made by asking subjects to switch the hand used to lift the object and/or rotate the object 180° about a vertical axis. Therefore, three transfer conditions, hand switch (HS), object rotation (OR), and both hand switch and object rotation (HS+OR), were tested and compared with hand matched control groups who did not experience context changes. We found that subjects in all transfer conditions adapted digit positions across multiple transfer trials similar to the learning of control groups, regardless of different changes of contexts. Moreover, subjects in both HS and HS+OR group also adapted digit forces similar to the control group, suggesting independent learning of the left hand. In contrast, the OR group showed significant negative transfer of the compensatory torque due to an inability to adapt digit forces. Our results indicate that internal representations of dexterous manipulation tasks may be primarily built through the hand used for learning and cannot be transferred across hands.     

Age-related differences in corticospinal control during functional isometric contractions in left and right hands.

The purpose of the study was to examine age-related differences in electromyographic (EMG) responses to transcranial magnetic stimulation (TMS) during functional isometric contractions in left and right hands. EMG responses were recorded from the first dorsal interosseus muscle following TMS in 10 young (26.6 +/- 1.3 yr) and 10 old (67.6 +/- 2.3 yr) right-handed subjects. Muscle evoked potentials (MEPs) and silent-period durations were obtained in the left and right hands during index finger abduction, a precision grip, a power grip, and a scissor grip, while EMG was held constant at 5% of maximum. For all tasks, MEP area was 30% (P < 0.001) lower in the left hand of old compared with young subjects, whereas there was no age difference in the right hand. The duration of the EMG silent period was 14% (P < 0.001) shorter in old (150.3 +/- 2.9 ms) compared with young (173.9 +/- 3.0 ms) subjects, and the age differences were accentuated in the left hand (19% shorter, P < 0.001). For all subjects, the largest MEP area (10-12% larger) and longest EMG silent period (8-19 ms longer) were observed for the scissor grip compared with the other three tasks, and the largest task-dependent change in these variables was observed in the right hand of older adults. These differences in corticospinal control in the left and right hands of older adults may reflect neural adaptations that occur throughout a lifetime of preferential hand use for skilled (dominant) and unskilled (nondominant) motor tasks.     

Psychophysiological responsivity on a laboratory stress task: Methodological implications for a stress-muscle hyperactivity pain model

A stress-muscle hyperactivity-pain (SMP) model has been proposed to explain the etiology of certain musculoskeletal pain disorders. According to this model, subjects should show physiological arousal during periods of stress relative to periods of rest. In a test of this prediction, 31 subjects performed a reaction time task that has been used in previous laboratory studies. Multiple psychophysiological variables were monitored during initial and final 10-minute baselines, during performance on nine 2-minute reaction time tasks, and during 36-second rest intervals following each of the 2-minute tasks. Results showed small but statistically significant differences generally supporting the SMP model when masseter EMG was averaged over time periods of 12 seconds to 2 minutes, but not when masseter EMG was averaged over 10- to 18-minute blocks. These results demonstrated the importance of carefully selecting time intervals for analysis. Additional analyses that compared TMD with symptom-free subjects revealed small differences in EMG that supported the SMP model. Analyses of EMG over shorter time intervals also showed, however, that masseter EMG increased during the 36-second rest interval following performance on a 2-minute stress task; this result suggested that a modification of the SMP model may be necessary.This research was supported in part by Grant 2 S06RR08038-17 funded by the National Institutes of Health.     

Experimentally Induced Stress Validated by EMG Activity

Experience of stress may lead to increased electromyography (EMG) activity in specific muscles compared to a non-stressful situation. The main aim of this study was to develop and validate a stress-EMG paradigm in which a single uncontrollable and unpredictable nociceptive stimulus was presented. EMG activity of the trapezius muscles was the response of interest. In addition to linear time effects, non-linear EMG time courses were also examined. Taking into account the hierarchical structure of the dataset, a multilevel random regression model was applied. The stress paradigm, executed in N = 70 subjects, consisted of a 3-minute baseline measurement, a 3-minute pre-stimulus stress period and a 2-minute post-stimulus phase. Subjects were unaware of the precise moment of stimulus delivery and its intensity level. EMG activity during the entire experiment was conform a priori expectations: the pre-stimulus phase showed a significantly higher mean EMG activity level compared to the other two phases, and an immediate EMG response to the stimulus was demonstrated. In addition, the analyses revealed significant non-linear EMG time courses in all three phases. Linear and quadratic EMG time courses were significantly modified by subjective anticipatory stress level, measured just before the start of the stress task. Linking subjective anticipatory stress to EMG stress reactivity revealed that subjects with a high anticipatory stress level responded with more EMG activity during the pre-stimulus stress phase, whereas subjects with a low stress level showed an inverse effect. Results suggest that the stress paradigm presented here is a valid test to quantify individual differences in stress susceptibility. Further studies with this paradigm are required to demonstrate its potential use in mechanistic clinical studies.     

Psychophysiological responsivity on a laboratory stress task: methodological implications for a stress-muscle hyperactivity pain model

A stress-muscle hyperactivity-pain (SMP) model has been proposed to explain the etiology of certain musculoskeletal pain disorders. According to this model, subjects should show physiological arousal during periods of stress relative to periods of rest. In a test of this prediction, 31 subjects performed a reaction time task that has been used in previous laboratory studies. Multiple psychophysiological variables were monitored during initial and final 10-minute baselines, during performance on nine 2-minute reaction time tasks, and during 36-second rest intervals following each of the 2-minute tasks, Results showed small but statistically significant differences generally supporting the SMP model when masseter EMG was averaged over time periods of 12 seconds to 2 minutes, but not when masseter EMG was averaged over 10- to 18-minute blocks. These results demonstrated the importance of carefully selecting time intervals for analysis. Additional analyses that compared TMD with symptom-free subjects revealed small differences in EMG that supported the SMP model. Analyses of EMG over shorter time intervals also showed, however, that masseter EMG increased during the 36-second rest interval following performance on a 2-minute stress task; this result suggested that a modification of the SMP model may be necessary.     

A physiological basis for control of a prosthetic hand

Recent surveys from upper limb amputees indicate the sentiment that prosthetic hands do not function in a life-like manner and are not intuitively controlled. Thus, two methods of control for a prosthetic hand are presented. A proportional derivative (PD) force controller is compared to a novel biomimetic application of sliding mode control. The biomimetic sliding mode (BSM) controller was designed to map human muscle signals into prosthesis motor command signals in a physiologically expected manner.The BSM and PD controllers were evaluated analytically and subjectively by one amputee and nine nonamputee test subjects. The posture of the hands of the nonamputee test subjects were measured with a CyberGlove and used to determine if the position of the prosthesis (when driven by both controllers) was highly correlated to the posture of the human hands. Force tracking experiments were also performed by all test subjects with both controllers to evaluate the ability to control the applied force. Finally, a dual object lifting task was performed by all test subjects to determine if the mapping of electromyogram (EMG) signals with the BSM controller resulted in physiologically expected motions. A nonparametric Mann–Whitney U-test was performed on the subjective evaluations to determine the statistical significance of the evaluations.The BSM controller was shown to replicate the posture of the human hand much more accurately than the PD force controller. The BSM controller also enabled better average force tracking results and higher success rates with the dual object lifting experiment while the same task was nearly impossible to perform with the PD controller. Finally, the BSM controller was subjectively rated to be more similar to control in comparison to the human hand with respect to position and force.     

Influence of locomotion speed on biomechanical subtask and muscle synergy

This paper investigates the relationship of biomechanical subtasks, and muscle synergies with various locomotion speeds. Ground reaction force (GRF) of eight healthy subjects is measured synchronously by force plates of treadmill at five different speeds ranging from 0.5 m/s to 1.5 m/s. Four basic biomechanical subtasks, body support, propulsion, swing, and heel strike preparation, are identified according to GRF. Meanwhile, electromyography (EMG) data, used to extract muscle synergies, are collected from lower limb muscles. EMG signals are segmented periodically based on GRF with the heel strike as the split points. Variability accounted for (VAF) is applied to determine the number of muscle synergies. We find that four muscle synergies can be extracted in all five situations by non-negative matrix factorization (NMF). Furthermore, the four muscle synergies and biomechanical subtasks keep invariant as the walking speed changes.     

A Wavelet-Based Method to Predict Muscle Forces From Surface Electromyography Signals in Weightlifting

The purpose of this study was to develop a wavelet-based method to predict muscle forces from surface electromyography (EMG) signals in vivo.The weightlifting motor task was implemented as the case study.EMG signals of biceps brachii,triceps brachii and deltoid muscles were recorded when the subject carried out a standard weightlifting motor task.The wavelet-based algorithm was used to process raw EMG signals and extract features which could be input to the Hill-type muscle force models to predict muscle forces.At the same time,the musculoskeletal model of subject's weightlifting motor task was built and simulated using the Computed Muscle Control (CMC) method via a motion capture experiment.The results of CMC were compared with the muscle force predictions by the proposed method.The correlation coefficient between two results was 0.99(p＜0.01).However,the proposed method was easier and more efficiency than the CMC method.It has potential to be used clinically to predict muscle forces in vivo.     

The effect of handedness on electromyographic activity of human shoulder muscles during movement.

The aim of the study was to investigate whether there was a difference in the electromyographic (EMG) activity of human shoulder muscles between the dominant and nondominant side during movement and to explore whether a possible side-difference depends on the specific task. We compared the EMG activity with surface and intramuscular electrodes in eight muscles of both shoulders in 20 healthy subjects whose hand preference was evaluated using a standard questionnaire. EMG signals were recorded during abduction and external rotation. During abduction, the normalized EMG activity was significantly smaller on the dominant side compared to the nondominant side for all the muscles except for infraspinatus and lower trapezius (P 相似文献   

Functional Corticospinal Projections from Human Supplementary Motor Area Revealed by Corticomuscular Coherence during Precise Grip Force Control

The purpose of the present study was to investigate whether corticospinal projections from human supplementary motor area (SMA) are functional during precise force control with the precision grip (thumb-index opposition). Since beta band corticomuscular coherence (CMC) is well-accepted to reflect efferent corticospinal transmission, we analyzed the beta band CMC obtained with simultaneous recording of electroencephalographic (EEG) and electromyographic (EMG) signals. Subjects performed a bimanual precise visuomotor force tracking task by applying isometric low grip forces with their right hand precision grip on a custom device with strain gauges. Concurrently, they held the device with their left hand precision grip, producing similar grip forces but without any precision constraints, to relieve the right hand. Some subjects also participated in a unimanual control condition in which they performed the task with only the right hand precision grip while the device was held by a mechanical grip. We analyzed whole scalp topographies of beta band CMC between 64 EEG channels and 4 EMG intrinsic hand muscles, 2 for each hand. To compare the different topographies, we performed non-parametric statistical tests based on spatio-spectral clustering. For the right hand, we obtained significant beta band CMC over the contralateral M1 region as well as over the SMA region during static force contraction periods. For the left hand, however, beta band CMC was only found over the contralateral M1. By comparing unimanual and bimanual conditions for right hand muscles, no significant difference was found on beta band CMC over M1 and SMA. We conclude that the beta band CMC found over SMA for right hand muscles results from the precision constraints and not from the bimanual aspect of the task. The result of the present study strongly suggests that the corticospinal projections from human SMA become functional when high precision force control is required.     

The application of generalizability theory to surface electromyographic measurements during psychophysiological stress testing: how many measurements are needed?

Generalizability theory is an extension of classical reliability theory that allows multiple sources of measurement error in an experimental design to be investigated simultaneously. In the present study, generalizability theory was used to evaluate measurement error in psychophysiological test procedures used to differentiate tension headache patients from normal controls based upon measures of electromyographic (EMG) responding. Thirty-three subjects who met diagnostic criteria for tension-type headache and 40 normal control subjects who rarely or never experienced headache participated in two laboratory sessions. EMG activity of head and neck muscles was recorded while subjects performed baseline, relaxation, choice reaction time, psychomotor tracking, and cold pressor tasks. Variance components were computed for an experimental design having subjects nested within experimenters and crossed with sessions and replications. Generalizability coefficients were computed for combinations of various numbers of sessions and replications. The generalizability of EMG measures was highly variable, depending on the experimental conditions in force. The largest sources of measurement error were attributed to the unique responsiveness of individual subjects under a particular set of treatment conditions. For some stress tests currently in use, data from several testing sessions may need to be averaged in order to achieve acceptable levels of generalizability. Generalizability greater than 0.80 can be expected only rarely when data are collected during a single session. In the research setting, low generalizability may account for the failure of EMG-based stress tests to differentiate tension headache patients from controls during stressful task performance. In the clinical setting, the generalizability of information derived from "stress profiling" or muscle "scanning" techniques, which depend on results obtained during a single testing session, is doubtful.     

Low frequency fatigue in human quadriceps is fatigue dependent and not task dependent.

It is well accepted that a low intensity/long duration isometric contraction induces more low frequency fatigue (LFF) compared to a high-intensity/short-duration contraction. However, previous reports examined the intensity/duration of the contraction but did not control the level of fatigue when concluding fatigue is task dependent. The purpose of this study was to determine whether a long duration/low intensity fatiguing contraction would induce greater LFF than a short duration/high-intensity contraction when the quadriceps muscle was fatigued to similar levels. Eighteen healthy male subjects performed quadriceps contractions sustained at 35% and 65% of maximal voluntary contraction (MVC) on separate days, until the tasks induced a similar amount of fatigue (force generating capacity=45% MVC). Double pulse torque to single pulse torque ratio (D/S ratio) was obtained before, immediately and 5min after fatigue along with the electromyographic (EMG) signal from vastus medialis (VM) and rectus femoris (RF). The D/S ratio significantly (p<0.05) increased by 8.7+/-8.5% (mean+/-SD) and 10.2+/-9.2% after 35% and 65% tasks, respectively, and remained elevated 5min into recovery; however, there was no significant difference in ratio between the two sessions immediately or 5min post-fatigue (p>0.05) even though the endurance time for the 35% fatigue task (124+/-39.68s) was significantly longer (p=0.05) than that of the 65% task (63+/-17.73s). EMG amplitude and median power frequency (MPF) analysis also did not reveal any significant differences between these two sessions after fatigue. These findings indicate that LFF fatigue is fatigue dependent as well as task intensity/duration dependent. These findings assist us in understanding task dependency and muscle fatigue.