Proportional control using surface electromyography (EMG) enables more intuitive control of a transfemoral prosthesis. However, EMG is a noisy signal which can vary over time, giving rise to the question what approach for knee torque estimation is most suitable for multi-day control. In this study we compared three different modelling frameworks to estimate knee torque in non-weight-bearing situations. The first model contained a convolutional neural network (CNN) which mapped EMG to knee torque directly. The second used a neuromusculoskeletal model (NMS) which used EMG, muscle tendon unit lengths and moment arms to compute knee torque. The third model (Hybrid) used a CNN to map EMG to specific muscle activation, which was used together with NMS components to compute knee torque. Multi-day measurements were conducted on ten able-bodied participants who performed non-weight bearing activities. CNN had the best performance in general and on each day (Normalized Root Mean Squared Error (NRMSE) 9.2 ± 4.4%). The Hybrid model (NRMSE 12.4 ± 3.4%) was able to outperform NMS (NRMSE 14.3 ± 4.2%). The NMS model showed no significant difference between measurement days. The CNN model and Hybrid models had significant performance differences between the first day and all other days. CNNs are suited for multi-day torque estimation in terms of error rate, outperforming the other two model types. NMS was the only model type which was robust over all days. This study investigated the behavior of three model types over multiple days, giving insight in the most suited modelling approach for multi-day torque estimation to be used in prosthetic control.

This data descriptor describes the Roessingh Research & Development-MyLeg database for activity prediction (MyPredict), containing three data sets. These data sets contain data from 55 able-bodied subjects, mean age 24 ± 2 years, measured in 85 measurement sessions. Measurement sessions consisted of trials containing sitting, standing, overground walking, stair ascent, stair descent, ramp ascent, ramp descent, walking on uneven terrain and walking in simulated confined spaces. Subjects were measured using eight inertial measurement units in combination with different types of sEMG. Recorded kinematics consisted of joint angles, sensor accelerations, angular velocity, orientation and virtual marker positions. sEMG was recorded using bipolar sEMG, multi-array sEMG or a combination of both. All data showed excellent correlation with other online available data sets. The data reported in this descriptor forms a solid basis for research into myoelectric pattern recognition, myoelectric control development and electromyography to be used in data-driven applications.

Choosing the right features is important to optimize lower limb pattern recognition, such as in prosthetic control. EMG signals are noisy in nature, which makes it more challenging to extract useful information. Many features are used in the literature, which raises the question which features are most suited for use in lower limb myoelectric control. Therefore, it is important to find combinations of best performing features. One way to achieve this is by using a genetic algorithm, a meta-heuristic capable of searching vast feature spaces. The goal of this research is to demonstrate the capabilities of a genetic algorithm and come up with a feature set that has a better performance than the state-of-the-art feature set. In this study, we collected a dataset containing ten able-bodied subjects who performed various gait-related activities while measuring EMG and kinematics. The genetic algorithm selected features based on the performance on the training partition of this dataset. The selected feature sets were evaluated on the remaining test set and on the online benchmark dataset ENABL3S, against a state-of-the-art feature set. The results show that a feature set based on the selected features of a genetic algorithm outperforms the state-of-the-art set. The overall error decreased up to 0.54% and the transitional error by 2.44%, which represent a relative decrease in overall errors up to 11.6% and transitional errors up to 14.1%, although these results were not significant. This study showed that a genetic algorithm is capable of searching a large feature space and that systematic feature selection shows promising results for lower limb myoelectric control.

Pattern recognition in EMG-based control systems suffer from increase in error rate over time, which could lead to unwanted behavior. This so-called concept drift in myoelectric control systems could be caused by fatigue, sensor replacement and varying skin conditions. To circumvent concept drift, adaptation strategies could be used to retrain a pattern recognition system, which could lead to comparable error rates over multiple days. In this study, we investigated the error rate development over one week and compared three adaptation strategies to reduce the error rate increase. The three adaptation strategies were based on entropy, on backward prediction and a combination of backward prediction and entropy. Ten able-bodied subjects were measured on four measurement days while performing gait-related activities. During the measurement electromyography and kinematics were recorded. The three adaptation strategies were implemented and compared against the baseline error rate and against adaptation using the ground truth labels. It can be concluded that without adaptation the baseline error rate increases significantly from day 1 to 2, but plateaus on day 2, 3 and 7. Of the three tested adaptation strategies, entropy based adaptation showed the smallest increase in error rate over time. It can be concluded that entropy based adaptation is simple to implement and can be considered a feasible adaptation strategy for lower limb pattern recognition.