EMG-based multi-joint kinematics decoding for robot-aided rehabilitation therapies

Andrea Sarasola-Sanz, Nerea Irastorza-Landa, Farid Shiman, Eduardo Lopez-Larraz, Martin Spuler, Niels Birbaumer, Ander Ramos-Murguialday

Research output: Chapter in Book/Report/Conference proceedingConference contribution


In recent years, a significant effort has been invested in the development of kinematics-decoding models from electromyographic (EMG) signals to achieve more natural control interfaces for rehabilitation therapies. However, the development of a dexterous EMG-based control interface including multiple degrees of freedom (DOFs) of the upper limb still remains a challenge. Another persistent issue in surface myoelectric control is the non-stationarity of EMG signals across sessions. In this work, the decoding of 7 distal and proximal DOFs' kinematics during coordinated upper-arm, fore-arm and hand movements was performed. The influence of the EMG non-stationarity was tested by training a continuous EMG decoder in three different scenarios. Moreover, the generalization characteristics of two algorithms (ridge regression and Kalman filter) were compared in the aforementioned scenarios. Eight healthy participants underwent EMG and kinematics recordings while performing three functional tasks. We demonstrated that ridge regression significantly outperformed the Kalman filter, indicating a superior generalization ability. Furthermore, we proved that the performance drop caused by the session-To-session non-stationarities could be significantly mitigated by including a short re-calibration phase. Although further tests should be performed, these preliminary findings constitute a step forward towards the non-invasive control of the next generation of upper limb rehabilitation robotics.

Original languageEnglish
Title of host publicationIEEE International Conference on Rehabilitation Robotics
PublisherIEEE Computer Society
Number of pages6
ISBN (Print)9781479918072
Publication statusPublished - Sep 28 2015
Event14th IEEE/RAS-EMBS International Conference on Rehabilitation Robotics, ICORR 2015 - Singapore, Singapore
Duration: Aug 11 2015Aug 14 2015


Other14th IEEE/RAS-EMBS International Conference on Rehabilitation Robotics, ICORR 2015

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Rehabilitation


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