Phase Surface Electromyography (sEMG) Based Muscle Onset Detection

Using electrical signals transmitted from the brain to the muscles through the central nervous system to control robots can improve the collaboration between robots and humans, making robot control highly real-time and mechanically matched. Using electromyographic signals to detect the activation state of robots helps to quickly switch between different robot states. Based on the propagation characteristics of neuromuscular junctions and electromyographic signals on the skin surface, we propose a muscle activation detection method based on opposite phase sEMG. The onset signal obtained based on this method is about 50 ms earlier than the joint force output, which means that muscle activation information can be obtained within the electromechanical delay (EMD) range. Using this method, information on electromyographic signals can be expanded from degree of activation to whether they are activated, providing more reference information for human-machine collaboration, fitness training, and disease evaluation.