Modeling hand kinematics and dynamics is a key goal for research on Human-Machine Interfaces, with surface electromyography (sEMG) being the most commonly used sensing modality. Though under-researched, sEMG regression-based modeling of hand movements and forces is promising for finer control than allowed by mapping to fixed gestures. We present an event-based sEMG encoding for multi-finger force estimation implemented on a microcontroller unit (MCU). We are the first to target the HYSER High-Density (HD)-sEMG dataset in multi-day conditions closest to a real scenario without a fixed force pattern. Our Mean Absolute Error of (8.4 ± 2.8)% of the Maximum Voluntary Contraction (MVC) is on par with State-of-the-Art (SoA) works on easier settings such as within-day, single-finger, or fixed-exercise. We deploy our solution for HYSER’s hardest task on a parallel ultra-low power MCU, getting an energy consumption below 6.5 uJ per sample, 2.8× to 11× more energy-efficient than SoA single-core solutions, and a latency below 280 us per sample, shorter than HYSER’s HD-sEMG sampling period, thus compatible with real-time operation on embedded devices.

Surface electromyography (sEMG) is a State-of-the-Art (SoA) sensing modality for non-invasive human-machine interfaces for consumer, industrial, and rehabilitation use cases. The main limitation of the current sEMG-driven control policies is the sEMG’s inherent variability, especially cross-session due to sensor repositioning; this limits the generalization of the Machine/Deep Learning (ML/DL) in charge of the signal-to-command mapping. The other hot front on the ML/DL side of sEMG-driven control is the shift from the classification of fixed hand positions to the regression of hand kinematics and dynamics, promising a more versatile and fluid control. We present an incremental online-training strategy for sEMG-based estimation of simultaneous multi-finger forces, using a small Temporal Convolutional Network suitable for embedded learning-on-device. We validate our method on the HYSER dataset, cross-day. Our incremental online training reaches a cross-day Mean Absolute Error (MAE) of (9.58 ± 3.89)% of the Maximum Voluntary Contraction on HYSER’s RANDOM dataset of improvised, non-predefined force sequences, which is the most challenging and closest to real scenarios. This MAE is on par with an accuracy-oriented, non-embeddable offline training exploiting more epochs. Further, we demonstrate that our online training approach can be deployed on the GAP9 ultra-low power microcontroller, obtaining a latency of 1.49 ms and an energy draw of just 40.4 uJ per forward-backward-update step. These results show that our solution fits the requirements for accurate and real-time incremental training-on-device.

The electromyography (EMG) signal is particularly useful in monitoring muscle activity, and it can be acquired noninvasively on the skin surface. Thanks to these key characteristics, EMG-based human–machine interfaces (HMIs) for prosthetic myocontrol, as well as gesture recognition, are becoming widespread. A key challenge in this context is to design embedded systems to process EMG signals and generate motor commands with miniaturized, unobtrusive, and low-power devices, reliably and in real time, at a relatively low cost to provide continuous monitoring without causing stigma or discomfort. This article presents an in-depth review of the current status and future research challenges in systems and circuits for EMG acquisition and processing. We start by illustrating the sensor interfaces and acquisition systems required for signal analysis to provide efficient and effective ways of understanding the signal and its nature. We, then, focus on conventional state-of-the-art (SoA) EMG gesture recognition algorithms as well as novel architectures that tackle EMG processing challenges, i.e., hyperdimensional computing (HDC), blind source separation (BSS), and spiking neural networks (SNNs). Finally, we discuss open challenges, such as EMG variability, natural control, and efficient computation, to bring the myocontrol completely out of the laboratory, filling the gap between research prototypes and real-world applications.

Spike extraction by blind source separation (BSS) algorithms can successfully extract physiologically meaningful information from the sEMG signal, as they are able to identify motor unit (MU) discharges involved in muscle contractions. However, BSS approaches are currently restricted to isometric contractions, limiting their applicability in real-world scenarios. We present a strategy to track MUs across different dynamic hand gestures using adaptive independent component analysis (ICA): first, a pool of MUs is identified during isometric contractions, and the decomposition parameters are stored; during dynamic gestures, the decomposition parameters are updated online in an unsupervised fashion, yielding the refined MUs; then, a Pan-Tompkins-inspired algorithm detects the spikes in each MUs; finally, the identified spikes are fed to a classifier to recognize the gesture. We validate our approach on a 4-subject, 7-gesture + rest dataset collected with our custom 16-channel dry sEMG armband, achieving an average balanced accuracy of 85.58±14.91% and macro-F1 score of 85.86±14.48%. We deploy our solution onto GAP9, a parallel ultra-low-power microcontroller specialized for computation-intensive linear algebra applications at the edge, obtaining an energy consumption of 4.72 mJ @ 240 MHz and a latency of 121.3 ms for each 200 ms-long window of sEMG signal.

Autism spectrum disorders (ASDs) are a heterogeneous group of neurodevelopmental conditions characterized by impairments in social interaction and communication and restricted patterns of behavior, interests, and activities. Although the etiopathogenesis of idiopathic ASD has not been fully elucidated, compelling evidence suggests an interaction between genetic liability and environmental factors in producing early alterations of structural and functional brain development that are detectable by magnetic resonance imaging (MRI) at the group level. This work shows the results of a network-based approach to characterize not only variations in the values of the extracted features but also in their mutual relationships that might reflect underlying brain structural differences between autistic subjects and healthy controls. We applied a network-based analysis on sMRI data from the Autism Brain Imaging Data Exchange I (ABIDE-I) database, containing 419 features extracted with FreeSurfer software. Two networks were generated: one from subjects with autistic disorder (AUT) (DSM-IV-TR), and one from typically developing controls (TD), adopting a subsampling strategy to overcome class imbalance (235 AUT, 418 TD). We compared the distribution of several node centrality measures and observed significant inter-class differences in averaged centralities. Moreover, a single-node analysis allowed us to identify the most relevant features that distinguished the groups.

Modern manufacturing industry relies on complex machinery that requires skills, attention, and precise safety certifications. Protecting operators in the machine’s surroundings while at the same time reducing the impact on the normal workflow is a major challenge. In particular, safety systems based on proximity sensing of humans or obstacles require that the detection is accurate, low-latency, and robust against variations in environmental conditions. This work proposes a functional safety solution for collision avoidance relying on Ultrasounds (US) and a Temporal Convolutional Network (TCN) suitable for deployment directly at the edge on a low-power Microcontroller Unit (MCU). The setup allowed to acquire a sensor-fusion dataset with 9 US sensors mounted on a real industrial woodworking machine. Applying incremental training, the proposed TCN achieved sensitivity 90.5%, specificity 95.2%, and AUROC 0.972 on data affected by the typical acoustic noise of an industrial facility, an accuracy comparable with the State-of-the-Art (SoA). Deployment on an STM32H7 MCU yielded a memory footprint of 560 B (3× less than SoA), with an extremely low latency of 5.0 ms and an energy consumption of 8.2 mJ per inference (both >2.3× less than SoA). The proposed solution increases its robustness against acoustic noise by leveraging new data, and it fits the resource budget of real-time operation execution on resource-constrained embedded devices. It is thus promising for generalization to different industrial settings and for scale-up to wider monitored spaces.