Estimation of motor unit conduction velocity from surface EMG recordings by signal-based selection of the spatial filters

Muscle fiber conduction velocity (CV) can be estimated by the application of a pair of spatial filters to surface electromagnetic (EMG) signals and compensation of the spatial filter transfer function with equivalent temporal filters. This method integrates the selection of the spatial filters for signal detection to the estimation of CV. Using this approach, in this paper, we propose a novel technique for signal-based selection of the spatial filter pair that minimizes the effect of nonpropagating signal components (end-of-fiber effects) on CV estimates (optimal filters). The technique is applicable to signals with one propagating and one nonpropagating component, such as single motor unit action potentials. It is shown that the determination of the optimal filters also allows the identification of the propagating and nonpropagating signal components. The new method was applied to simulated and experimental EMG signals. Simulated signals were generated by a cylindrical, layered volume conductor model. Experimental signals were recorded from the abductor pollicis brevis with a linear array of 16 electrodes. In the simulations, the proposed approach provided CV estimates with lower bias due to nonpropagating signal components than previously proposed methods based on the entire signal waveform. In the experimental signals, the technique separated propagating and nonpropagating signal components with an average reconstruction error of 2.9 +/- 0.9% of the signal energy. The technique may find application in single motor unit studies for decreasing the variability and bias of CV estimates due to the presence and different weights of the nonpropagating components.     

Assessment of average muscle fiber conduction velocity from surface EMG signals during fatiguing dynamic contractions

In this paper, we propose techniques of surface electromyographic (EMG) signal detection and processing for the assessment of muscle fiber conduction velocity (CV) during dynamic contractions involving fast movements. The main objectives of the study are: 1) to present multielectrode EMG detection systems specifically designed for dynamic conditions (in particular, for CV estimation); 2) to propose a novel multichannel CV estimation method for application to short EMG signal bursts; and 3) to validate on experimental signals different choices of the processing parameters. Linear adhesive arrays of electrodes are presented for multichannel surface EMG detection during movement. A new multichannel CV estimation algorithm is proposed. The algorithm provides maximum likelihood estimation of CV from a set of surface EMG signals with a window limiting the time interval in which the mean square error (mse) between aligned signals is minimized. The minimization of the windowed mse function is performed in the frequency domain, without limitation in time resolution and with an iterative computationally efficient procedure. The method proposed is applied to signals detected from the vastus laterialis and vastus medialis muscles during cycling at 60 cycles/min. Ten subjects were investigated during a 4-min cycling task. The method provided reliable assessment of muscle fatigue for these subjects during dynamic contractions.     

Estimation of muscle fiber conduction velocity with a spectral multidip approach

We propose a novel method for estimation of muscle fiber conduction velocity from surface electromyographic (EMG) signals. The method is based on the regression analysis between spatial and temporal frequencies of multiple dips introduced in the EMG power spectrum through the application of a set of spatial filters. This approach leads to a closed analytical expression of conduction velocity as a function of the auto- and cross-spectra of monopolar signals detected along the direction of muscle fibers. The performance of the algorithm was compared with respect to that of the classic single dip approach on simulated and experimental EMG signals. The standard deviation of conduction velocity estimates from simulated single motor unit action potentials was reduced from 1.51 m/s [10 dB signal-to-noise ratio (SNR)] and 1.06 m/s (20 dB SNR) with the single dip approach to 0.51 m/s (10 dB) and 0.23 m/s (20 dB) with the proposed method using 65 dips. When 200 active motor units were simulated in an interference EMG signal, standard deviation of conduction velocity decreased from 0.95 m/s (10 dB SNR) and 0.60 m/s (20 dB SNR) with a single dip to 0.21 m/s (10 dB) and 0.11 m/s (20 dB) with 65 dips. In experimental signals detected from the abductor pollicis brevis muscle, standard deviation of estimation decreased from (mean +/- SD over 5 subjects) 1.25 +/- 0.62 m/s with one dip to 0.10 +/- 0.03 m/s with 100 dips. The proposed method does not imply limitation in resolution of the estimated conduction velocity and does not require any iterative procedure for the estimate since it is based on a closed analytical formulation.     

A pseudojoint estimation of time delay and scale factor for M-wave analysis

A pseudojoint estimation of time scale and time delay between an unknown deterministic transient type signal and a reference signal is proposed. The method is based on the separation between the estimations of the two dependent parameters. The time autocorrelation function (TACF) preserves the time scale and is invariant with respect to the time delay between the signals. The time scale factor can, thus, be estimated independently from time delay using the TACFs of the two signals. After estimating the time scale factor, the signal can be scaled by the estimated amount. The time delay is then estimated without bias due to the time scale factor. To obtain high resolution joint estimates, the time scale factor is estimated in the scale domain from the scale transforms of the TACFs of the two signals. The proposed method has low computational cost. Moreover, the results on synthetic signals show good performance of the method with respect to the Cramér-Rao Lower Bound and the joint Maximum Likelihood Estimation. A possible application of the technique to the analysis of electromyogram (EMG) signals detected during electrically elicited contractions is also presented. In a few representative cases, it is shown that the time scale estimate reveals myoelectric manifestations of muscle fatigue and is less affected by M-wave truncation than spectral EMG attributes.     

Selectivity of spatial filters for surface EMG detection from the tibialis anterior muscle

Many spatial filters have been proposed for surface electromyographic (EMG) signal detection. Although theoretical and modeling predictions on spatial selectivity are available, there are no extensive experimental validations of these techniques based on single motor unit (MU) activity detection. The aim of this study was to compare spatial selectivity of one- and two-dimensional (1-D and 2-D) spatial filters for EMG signal detection. Intramuscular and surface EMG signals were recorded from the tibialis anterior muscle of ten subjects. The simultaneous use of intramuscular wire and surface recordings (with the spike triggered averaging technique) allowed investigation of the activity of single MUs at the skin surface. The surface EMG signals were recorded with a grid of point electrodes (3 x 3 electrodes) and a ring electrode system at 15 locations over the muscle, with the wires detecting signals from the same intramuscular location. For most subjects, it was possible to classify, from the intramuscular recordings, the activity of the same MUs for all the contractions. The surface EMG signals were averaged with the intramuscularly detected MU action potentials as triggers. In this way, eight spatial filters--longitudinal and transversal, single and double differential (LSD, TSD, LDD, TDD), Laplacian (NDD), inverse binomial filter of the second order (IB2), inverse rectangle filter (IR), and differential ring system (C1)--could be compared on the basis of their spatial selectivity. The distance from the source (transversal with respect to the muscle fiber orientation) after which the surface detected potential did not exceed +/- 5% of the maximal peak-to-peak amplitude (detection distance) was statistically smaller for the 2-D systems and TDD than for the other filters. The MU action potential duration was significantly shorter with LDD and with the 2-D systems than with the other filters. The 2-D filters investigated (including C1) showed very similar performance and were, thus, considered equivalent from the point of view of spatial selectivity.     

宽带谱相关时空DOA矩阵方法

本文提出了一种新的基于信号时空特征结构的二维DOA估计方法－－宽带谱相关时空DOA矩阵方法。该方法利用信号的循环平稳特性实现了对宽带信号的有效处理,同时通过空时变换将传统的一维空域处理拓展到了二维空间处理,更充分地利用了信号的时域特征,从而大大简化了阵列结构,提高了算法的性能。理论分析与仿真结果表明,该方法既继承了循环平稳方法在谱估计方面的优势,又具有原DOA矩阵方法无需二维谱峰搜索和参数配对的特点。     

An Application of Signal Processing Techniques to the Study of Myoelectric Signals

This paper describes the use of power spectral density and cumulative power functions in the examination of the electromyogram (EMG). The EMG signals were obtained with surface electrodes from two muscles, the flexor pollicis brevis and the extensor digitorum, in four subjects. Each muscle was studied at two levels of contraction, both before and during fatigue. The power spectral density functions are compared, using a cumulative power difference function and the mean frequency of the spectrum, to determine differences between loading conditions in an individual muscle, before and during fatigue, between different muscles, between individuals (same muscle), and combinations of these conditions.     

A fast and reliable technique for muscle activity detection from surface EMG signals

The estimation of on-off timing of human skeletal muscles during movement is an important issue in surface electromyography (EMG) signal processing with relevant clinical applications. In this paper, a novel approach to address this issue is proposed. The method is based on the identification of single motor unit action potentials from the surface EMG signal with the use of the continuous wavelet transform. A manifestation variable is computed as the maximum of the outputs of a bank of matched filters at different scales. A threshold is applied to the manifestation variable to detect EMG activity. A model, based on the physical structure of the muscle, is used to test the proposed technique on synthetic signals with known features. The resultant bias of the onset estimate is lower than 40 ms and the standard deviation lower than 30 ms in case of additive colored Gaussian noise with signal-to-noise ratio as low as 2 dB. Comparison with previously developed methods was performed, and representative applications to experimental signals are presented. The method is designed for a complete real-time implementation and, thus, may be applied in clinical routine activity.     

Robust ℋ∞ filtering for continuous timevarying uncertain systems with deterministic input signals

Many dynamical systems involve not only process and measurement noise signals but also parameter uncertainty and known input signals. When ℒ₂ or ℋ_∞ filters that were designed based on a “nominal” model of the system are applied, the presence of parameter uncertainty will not only affect the noise attenuation property of the filter but also introduce a bias proportional to the known input signal, and the latter may be very appreciable. We introduce a finite-horizon robust ℋ_∞ filtering method that provides a guaranteed ℋ_∞ bound for the estimation error in the presence of both parameter uncertainty and a known input signal. This method is developed by using a game-theoretic approach, and the results generalize those obtained for cases without parameter uncertainty or without a known input signal. It is also demonstrated, via an example, that the proposed method provides significantly improved signal estimates     

A spectral matching approach for parameter and spectral estimationof nonstationary rational processes

The parameter and spectral estimation problems of nonstationary signals are considered. The nonstationary signals are modeled as rational processes with time-varying parameters. The spectral matching approach, which was introduced by Friedlander and Porat (1984), is generalized to the nonstationary case and two new estimators, namely, the time-varying spectral matching estimator (TVSME) and the time-frequency spectral matching estimator (TFSME) are proposed. The proposed methods estimate the parameters of the time-varying rational model by fitting the parametric spectrum expression to an estimated time-frequency distribution of the signal. An approximate statistical analysis is given for both methods along with computer simulation results, illustrating the performance of the proposed estimators     

Estimation of elbow-induced wrist force with EMG signals using fast orthogonal search

In many studies and applications that include direct human involvement-such as human-robot interaction, control of prosthetic arms, and human factor studies-hand force is needed for monitoring or control purposes. The use of inexpensive and easily portable active electromyogram (EMG) electrodes and position sensors would be advantageous in these applications compared to the use of force sensors, which are often very expensive and require bulky frames. Multilayer perceptron artificial neural networks (MLPANN) have been used commonly in the literature to model the relationship between surface EMG signals and muscle or limb forces for different anatomies. This paper investigates the use of fast orthogonal search (FOS), a time-domain method for rapid nonlinear system identification, for elbow-induced wrist force estimation. It further compares the forces estimated using FOS with the forces estimated by MLPANN for the same human anatomy under an ensemble of operational conditions. In this paper, the EMG signal readings from upper arm muscles involved in elbow joint movement and sensed elbow angular position and velocity are utilized as inputs. A single degree-of-freedom robotic experimental testbed has been constructed and used for data collection, training and validation.     

The performance of minimax spatial resampling filters for focussingwide-band arrays

The design and performance of linear shift-variant filters for coherent wideband processing are examined via spatial resampling. In particular, a minimax error criterion is used to obtain realizable resampling filters, and an approximate statistical analysis of wideband spatially resampled minimum variance spatial spectral estimation is presented. Simulation results indicate that spatial resampling provides a computationally efficient means of reducing the threshold observation time required to obtain high-resolution estimates of source location     

A Physically Constrained Maximum-Likelihood Method for Snapshot-Deficient Adaptive Array Processing

This paper presents a physically constrained maximum-likelihood (PCML) method for spatial covariance matrix and power spectral density estimation as a reduced-rank adaptive array processing algorithm. The physical constraints of propagating energy imposed by the wave equation and the statistical nature of the snapshots are exploited to estimate the ldquotruerdquo maximum-likelihood covariance matrix that is full rank and physically realizable. The resultant matrix may then be used in adaptive processing for interference cancellation and improved power estimation in nonstationary environments where the amount of available data is limited. Minimum variance distortionless response (MVDR) power estimates are computed for a given environment at different levels of snapshot support using the PCML method and several other reduced-rank techniques. The MVDR power estimates from the PCML method are shown to have less bias and lower standard deviation at a given level of snapshot support than any of the other reduced-rank methods used. Furthermore, the estimated power spectral density from the PCML method is shown to offer better low-level source detection than the MVDR power estimates.     

Modeling of surface myoelectric signals. II. Model-based signalinterpretation

Experimental electromyogram (EMG) data from the human biceps brachii were simulated using the model described in [10] of this work. A multichannel linear electrode array, spanning the length of the biceps, was used to detect monopolar and bipolar signals, from which double differential signals were computed, during either voluntary or electrically elicited isometric contractions. For relatively low-level voluntary contractions (10%-30% of maximum force) individual firings of three to four-different motor units were identified and their waveforms were closely approximated by the model. Motor unit parameters such as depth, size, fiber orientation and length, location of innervation and tendonous zones, propagation velocity, and source width were estimated using the model. Two applications of the model are described. The first analyzes the effects of electrode rotation with respect to the muscle fiber direction and shows the possibility of conduction velocity (CV) over- and under-estimation. The second focuses on the myoelectric manifestations of fatigue during a sustained electrically elicited contraction and the interrelationship between muscle fiber CV, spectral and amplitude variables, and the length of the depolarization zone. It is concluded that a) surface EMG detection using an electrode array, when combined with a model of signal propagation, provides a useful method for understanding the physiological and anatomical determinants of EMG waveform characteristics and b) the model provides a way for the interpretation of fatigue plots.     

Nested planar array: configuration design,optimal array and DOA estimation

Nested array enables to enhance localisation resolution and achieve under-determined direction of arrival (DOA) estimation. In this paper, we improve the traditional nested planar array to achieve more degrees of freedom (DOFs) and better angle estimation performance. The closed-form expressions for sensor positions of the improved array are given and the optimal array configuration for largest available DOFs is derived. Meanwhile, a computationally efficient DOA estimation algorithm is proposed. Specifically, we utilise two dimensional Discrete Fourier Transform (2D DFT) method to obtain the coarse DOA estimates; Subsequently, we achieve the fine DOA estimates by 2D spatial smoothing multiple signals classification (SS-MUSIC) algorithm. The proposed algorithm enjoys the same estimation accuracy as SS-MUSIC algorithm but with lower complexity because the coarse DOA estimates enable to shrink the range of spectral search. In addition, estimation of the number of signals is not required by 2D DFT method. Extensive simulation results testify the effectiveness of the proposed algorithm.     

A practical electrode-array myoprocessor for surfaceelectromyography

A new myoprocessor is described which produces a relatively smooth and accurate measure of a muscle's electrical activity during both slow and rapid movements. This is achieved partly by spatial averaging of weakly correlated EMG signals from electrodes distributed over the surface of the muscle.     

Analysis of joint angle-frequency estimation using ESPRIT

High-resolution parameter estimation techniques have been applied to jointly estimate multiple signal parameters. we consider the problem of determining the directions and center frequencies of a number of narrowband sources in a band of interest. We present a joint angle-frequency estimation method, based on the multidimensional ESPRIT algorithm. A perturbation error analysis gives bounds on the parameter estimates and provides optimal values for the temporal and spatial smoothing parameters. The analysis is shown to be consistent with simulation results.     

Modern spectral analysis techniques for blood flow velocity andspectral measurements with pulsed Doppler ultrasound

Four spectral analysis techniques were applied to pulsed Doppler ultrasonic quadrature signals to compare the relative merits of each technique for estimation of flow velocity and Doppler spectra. The four techniques were 1) the fast Fourier transform method, 2) the maximum likelihood method, 3) the Burg autoregressive algorithm, and 4) the modified covariance approach to autoregressive modeling. Both simulated signals and signals obtained from an in vitro flow system were studied. Optimal parameter values (e.g., model orders) were determined for each method, and the effects of signal-to-noise ratio and signal bandwidth were investigated. The modern spectral analysis techniques were shown to be superior to Fourier techniques in most circumstances, provided the model order was chosen appropriately. Robustness considerations tended to recommend the maximum likelihood method for both velocity and spectral estimation. Despite the restrictions of steady laminar flow, the results provide important basic information concerning the applicability of modern spectral analysis techniques to Doppler ultrasonic evaluation of arterial disease.     

Spatial Filtering of Noninvasive Multielectrode EMG: Part II?Filter Performance in Theory and Modeling

Spatial filtering, particularly common in the field of engineering, is adapted in theory and practice to the filtering of propagating spatial EMG signals. This technique offers a new flexibility in the design of selective EMG measurement configurations. Longitudinal as well as two-dimensional spatial filters can be used. The conditions for the design of suitable spatial filters are deduced by signal theory. The performances of different selected configurations are compared by means of a given simple model of an excited motor unit. The modeling results compare well to the previously described experimental signals.     

Nonlinear Spatial Filtering of Multichannel Surface Electromyogram Signals During Low Force Contractions

This study introduces the application of nonlinear spatial filters to help identify single motor unit discharge from multiple channel surface electromyogram (EMG) signals during low force contractions. The nonlinear spatial filters simultaneously take into account the instantaneous amplitude and frequency information of a signal. This property was used to enhance motor unit action potentials (MUAPs) in the surface EMG record. The advantages of nonlinear spatial filtering for surface MUAP enhancement were investigated using both simulation and experimental approaches. The simulation results indicate that when compared with various linear spatial filters, nonlinear spatial filtering achieved higher SNR and higher kurtosis of the surface EMG distribution. Over a broad range of SNR and kurtosis levels for the input signal, nonlinear spatial filters achieved at least 32 times greater SNR and 11% higher kurtosis for correlated noise, and at least 15 times greater SNR and 1.7 times higher kurtosis for independent noise, across electrode array channels. The improvements offered by nonlinear spatial filters were further documented by applying them to experimental surface EMG array recordings. Compared with linear spatial filters, nonlinear spatial filters achieved at least nine times greater SNR and 25% higher kurtosis. It follows that nonlinear spatial filters represent a potentially useful supplement to linear spatial filters for detection of motor unit activity in surface EMG at low force contractions.