Surface EMG force modeling with joint angle based calibration.

In this paper, a calibration method to compensate for changes in SEMG amplitude with joint angle is introduced. Calibration factors were derived from constant amplitude surface electromyogram (SEMG) recordings from the biceps brachii (during elbow flexion) and the triceps brachii (during elbow extension) across seven elbow joint angles. SEMG data were then recorded from the elbow flexors (biceps brachii and brachioradialis) and extensors (triceps brachii) during isometric, constant force flexion and extension contractions at the same joint angles. The resulting force at the wrist was measured. The fast orthogonal search method was used to find a mapping between the system inputs - estimated SEMG amplitudes and joint angle - and the system output - measured force, for both calibrated and non-calibrated SEMG data. Models developed with calibrated data yielded a statistically significant improvement in force estimation compared to models developed with non-calibrated data, suggesting that the calibration method can compensate for changes in the SEMG-force relationship with changing joint angle. It was also found that the number of non-linear, joint angle-dependent terms used in the SEMG-force model was reduced with calibration. Additionally, initial inter-session analysis performed for four subjects suggests that calibration values can be used for subsequent recording sessions, and different output force levels.