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Biologically Inspired Robotics
12.2 System Configuration
The sEMG-based sensing system is configured as shown in Figure 12.1. The
potential user wears a small, lightweight sEMG sensor ring on the wrist.
The sEMG sensor ring has six-channel electrodes, integrated with analog
circuits, an A/D converter, and a wireless module. The sEMG signals, accumulated on the skin covering the wrist, are amplified, filtered, and converted
digitally and then transferred to a computer via the wireless module. The
computer processes the hand movements for identification.
12.2.1 Multichannel sEMG Sensor Ring
The sensor ring has six pairs of sEMG sensor electrodes, and each pair is for
one channel, as shown in Figure 12.2. The six-channel sensor ring covers the
overall posterior side of the forearm; that is, it includes all of the extensor
muscles for the finger movements. Each sEMG electrode has a diameter of
ϕ10 mm, and one channel is composed of two electrodes. Each pair of channels is placed 15 mm apart. Before wearing the sEMG electrodes, the forearm
should be washed to ensure good conductivity between the skin surface and
the electrodes.
Worn on human wrist
Feature
extraction
sEMG sensor
Ag/Ag-Cl
Signal conditioning
& preprocessing
Dimensionality
reduction
PC
Motion
classification
Online/offline training
FIGURE 12.1
Configuration of the sEMG-based sensing system.
15 15
φ 10
FIGURE 12.2
Multichannel sEMG sensor ring: (a) sensor ring on the forearm and (b) six-channel sEMG
electrodes.
Biologically Inspired Robotics
12.2 System Configuration
The sEMG-based sensing system is configured as shown in Figure 12.1. The
potential user wears a small, lightweight sEMG sensor ring on the wrist.
The sEMG sensor ring has six-channel electrodes, integrated with analog
circuits, an A/D converter, and a wireless module. The sEMG signals, accumulated on the skin covering the wrist, are amplified, filtered, and converted
digitally and then transferred to a computer via the wireless module. The
computer processes the hand movements for identification.
12.2.1 Multichannel sEMG Sensor Ring
The sensor ring has six pairs of sEMG sensor electrodes, and each pair is for
one channel, as shown in Figure 12.2. The six-channel sensor ring covers the
overall posterior side of the forearm; that is, it includes all of the extensor
muscles for the finger movements. Each sEMG electrode has a diameter of
ϕ10 mm, and one channel is composed of two electrodes. Each pair of channels is placed 15 mm apart. Before wearing the sEMG electrodes, the forearm
should be washed to ensure good conductivity between the skin surface and
the electrodes.
Worn on human wrist
Feature
extraction
sEMG sensor
Ag/Ag-Cl
Signal conditioning
& preprocessing
Dimensionality
reduction
PC
Motion
classification
Online/offline training
FIGURE 12.1
Configuration of the sEMG-based sensing system.
15 15
φ 10
FIGURE 12.2
Multichannel sEMG sensor ring: (a) sensor ring on the forearm and (b) six-channel sEMG
electrodes.