Calibration Algorithm and Electrode Array for EMG of Prosthetic

Grabbing Hand
BMES 492: SENIOR DESIGN FOR BIOMEDICAL ENGINEERING
WINTER 2011
KELSEY RITTER
A. RICHARD COHEN
GARY PLACE
SEAN BISHOP
KEVIN KAUFFMAN
DR. HASAN AYAZ
HASAN.AYAZ@DREXEL.EDU

215.571.3709
SCHOOL OF BIOMEDICAL ENGINEERING
DREXEL UNIVERSITY
PHILADELPHIA, PA

EXECUTIVE SUMMARY
Many different prosthetics have been designed for people who have lost one or both of
their hands. However, the existing designs offer too little functionality, must be specialized for
an individual user, or are difficult to learn how to use. There exists a need for a system that
acquires control signals from patients with hand amputations with the capability to differentiate
between intended individual finger movements. These problems will be addressed by building
an algorithm and supplemental, universal electrode sleeve with the intention to operate a
prosthetic hand with functional fingers based on EMG data input. The universal nature of the
sleeve and algorithm will solve one problem facing smart-prosthetic development.
The final deliverables will be an algorithm combining BioPac suite software and Matlab
to acquire and classify data in addition to an electrode sleeve for the forearm. The electrode
sleeve will have electrodes attached to it in a pattern to allow multiple users to use the same
sleeve and achieve the same accuracy of finger movement. The final design must be able to
calibrate to the specific user allowing the same accuracy for all users.
After the different components are built, they will be tested in an offline setting. Different
sets of acquired EMG data will be fed into the algorithms to test their ability to calibrate and
predict individual finger movements. Time constraints will not allow for real-time user control of
the device in this project; however, the goal of the project is allow the possibility of it.
Some of the constraints on our design include the time and money available to build the design,
the time with which it takes the device to respond to a command, and the size of the physical
components of the design.

TABLE OF CONTENTS
Executive Summary 1
Table of Contents 2
List of Abbreviations and Definitions . 3
Introduction . 4
Description of Prototype to Date . 6
Problems and Issues 8
Plan of Action . 8
Impacts . 9
Schedule 10
Appendices 14

LIST OF ABBREVIATIONS AND DEFINITIONS

EMG: electromyography, electromyogram, electromyographic (depending on context)

INTRODUCTION
There exists a need for a system that acquires control signals from patients with hand
amputations with the capability to differentiate between intended individual finger movements.
Many of the current designs are invasive and require surgery. A non-invasive design does not
require surgery, and is much less of a commitment and adjustment for the patient. Additionally,
some designs must be built specifically to each patient, and require extensive design work. These
devices can be expensive and difficult to learn how to use. There does not exist an EMGcontrolled prosthetic system that can operate individual digits, does not need to be customized
for a specific patient, can be calibrated for variations in electrode layout both intra-patient and
inter-patient, and is completely non-invasive.
Current solutions to this issue include systems such as invasive electrode technology and
strictly mechanical approaches. One approach developed by Dechev, Cleghorn, and Naumann
was able to achieve motion in prosthetic fingers without the use of EMG signal processing
(Dechev et. al., 1157). While this device does provide a non-invasive prosthesis with the ability
grasp objects, its greatest flaw is that it is a passive device. The fingers of the device flex when
touch sensors in the device sense that there is an object being touched (Dechev 1158). This is a
problem because the fingers may flex independent of whether or not the user intended them to
move, which could lead to an overabundance of false positive actions. Another design was
developed by Kamavuako, et al. that uses intramuscular EMG signals to operate a prosthetic
hand. This design is capable of grasping objects with greater amounts of force than the surface
EMGs it was compared to (Kamavuako, 150), but because this design is invasive, it is not a
viable solution. Another solution developed by Matrone, et al. utilized principal components
analysis to control finger motions of a prosthetic hand using surface EMG signals. This was a

successful method of analyzing surface EMG data to actively operate the mechanical fingers of a
prosthetic hand to grasp objects (Matrone 10). Where this design fails is that it lacks the
capability to be calibrated for intra-patient and inter-patient variations in electrode layout.
The objective of this project is to design a non-invasive prosthetic controller that can
successfully (see design specifications below) operate individual digits from an array of sensor
that may be placed different on a day-to-day or patient-to-patient basis. The design consists of
two major components. The first is an algorithm written in Matlab that utilizes the EMG data
from the patients arm to distinguish between individual finger movements. The second is a
sleeve containing an array of sensors that can record and transmit EMG signal sufficient to
decode the intention of the operator to move a digit of the prosthetic hand (see design
specifications). To complete the design and test our device, data obtained from BioPac suite
software will be used.
The design specifications for the sleeve mainly relate to its functionality in signal
collection and its ease of use with regard to dependably placing it in the correct position on the
arm. Firstly, the sleeve must hold electrodes tight enough to achieve a resistance measured with
an ohmmeter below 10,000 ohms but must also not exert a pressure on the arm over 25 psi, so as
to not cause pain. Testing will be performed by measuring resistance with an ohmmeter. With
regard to the placement of the sleeve, a minimum of two electrodes must remain within the area
of each of the specific targeted muscles. Testing will be performed by marking specific targeted
muscles and placing sleeve to check if electrodes are correctly place.
The algorithm will correctly classify individual finger movements with a 92% accuracy
rate which matches or improves on the recent advancements in prosthetic hand technology.
False-positives and false-negatives will be recorded by the algorithm classifying correct and

incorrect finger movements. Time constrains the project, as it must be completed by spring; we
also have a budget under $500 and an IRB which limits the scope and interactions allowed with
the electrode sleeve. The project will also be constrained to the use of the Biopac system and
Matlab, which are available through Drexel, and non-invasive surface EMG signals will be the
only signals used.

DESCRIPTION OF PROTOYPE TO DATE

The final prototype will consist of a Matlab algorithm in conjunction with an electrode
sleeve. The electrode sleeve component will provide for an interface between the muscles of the
forearm and the data processing equipment. The electrode sleeve will be made from spandex
fabric, which was chosen for its elastic properties so that it may fit snugly, comfortably, and on a
range of arm sizes. The fabric will be fitted and sewn to accommodate the specified arm sizes.
The sleeve will contain electrodes, made of nickel-plated brass snaps. Each snap will have a
central canal, which will be used to insert saline gel between the skin and the metal of the snap,
which serves as a conductor to improve the signal transfer between the skin and the snap. The
snaps will be placed in pairs in an array over the targeted muscles of the forearm. These targeted
muscles include: the flexor digitorum superficialis (which controls the flexion of the index
finger), flexor carpi ulnaris (which controls the flexion of the little finger), flexor carpi radialis
(which controls the flexion of the middle and ring fingers), flexor palmaris longus (which also
controls the flexion of the middle and ring fingers), and the extensor digitorum communis (which
is the main extensor muscles for the extension of all of the fingers). The extensor muscle is used
in sections, which are controlled by the nerves. Different parts of the muscle are deployed
depending on which fingers are extending, which is how we will utilize this muscle. These
muscles were chosen because together their activity can describe all individual finger movements
7

that a person performs.

The Matlab algorithm component of the system will be used to process the data and
determine the intended muscle movements of the user. The algorithm will consist of two
separate steps: a calibration phase and a classification phase. The calibration component of the
algorithm will determine the orthogonal characteristics of the EMG signals from different hand
positions. In the situation that the system picks up bad data or there are not enough orthogonal
data characteristics, the algorithm will identify that new data is needed for calibration. The
classification component of the algorithm will classify incoming movements as different hand
positions, based on the orthogonal characteristics determined by the calibration step.
Currently, the assembly of the electrode sleeve is not started. The specific materials for
the sleeve are available, however the group needs to determine the specific muscle target areas
before construction of the sleeve can begin. The Matlab algorithm has been started, but is not
complete. The classification step has not been started, because completion of the calibration step
is necessary before classification can be performed. The initial data processing steps of the
calibration algorithm are complete, but additional lab time with the new equipment is needed
before progress can continue.
The group has completed initial testing of the Biopac systems, in order to get reacquainted with the lab. The group has also tested the hardware that was specifically built for
this project, including a ground sharing board and a time-sync cable for running two systems
simultaneously, both of which have been successful. Each channel of the BioPac includes two
electrodes leads and a ground lead. Our design requires the use of eight channels to equate to
sixteen leads and a ground. Since each channel has its own ground lead, there was a problem
with attaching all channels to the same ground location. The solution was to build a small board

to tie all eight grounds together and connect them to one ground electrode. The board consisted
of a sheet of copper with snaps soldered to it. The copper allowed all snaps to easily be
electrically tied together; therefore, connecting all ground channels to one common ground.
Another consideration in data collection was that the BioPacs only have four channels per
unit. This meant that in order to use eight channels (16 leads plus ground) two BioPacs were
needed and two computers were needed to simultaneously collect data from all eight channels.
This obstacle was overcome by using an external trigger tied to both units to send a start signal in
order to sync the two units. This would free up the redundant channel and allow us one more
channel to collect as much data as possible for use in classifying channels.

PROBLEMS AND ISSUES

Numerous problems have occurred throughout the course of the project. Two problems
that occurred while using the BioPac software and hardware were largely related to resources
and timing. As obstacles were identified by the group, outside persons were identified as being
critical in the next steps of the project. However, it was not always possible for an immediate
meeting between the outside person and the group. Additionally, when particular resources were
needed by the group, which were unavailable, alternates were used. These alternates were nonideal and in one circumstance failed and needed repairing, which cost the group valuable lab
time.
PLAN OF ACTION
Our plan of action for the spring term requires several steps to be taken in order to
complete the project by May 11th. The final actions required for the completion of the device
includes continuing to collect data to finalize the electrode placement as well as to finalize the

Matlab code and provide sufficient data sets to test our algorithm for calibration and
functionality of distinguishing between finger movements. While the code is being finalized and
tested, the sleeve will be constructed. The sleeve will be built up until the insertion of the
electrodes. Once the optimum electrode position is found, the electrodes will be attached to the
sleeve and testing with the sleeve and algorithm will be conducted to test both designs. This will
allow for modifications to finalize and address any small issues left open during the process
before May 11th.

SOCIETAL AND ENVIRONMENTAL IMPACTS

In terms of societal and environmental impacts, there are no major health concerns that
are associated with the project. The only health risk that could possibly pose a problem are any
allergic reactions to the sleeve material, electrodes and/or saline gel.
If continuing future work with this design project by constructing a mechanical hand,
failsafes and mechanical safety would be an important concern. By increasing the use of smart
prosthetics would ultimately lead to less time and effort from medical staff to fit the device on
patients. This is because there will only be minor adjustments that will need to be made. Also
because of increase use, it will lead to lower cost since less time will be spent fitting the device
and the adjustments can be made without purchasing new tailor made parts.
This design is not for everyone, as it does not account for those who have impaired use of
the target muscles. Specific situations that are not accounted for are nerve damage, degenerative
muscle diseases and damage to the muscle due to the patients injury. These situations will not
work with the current design. Also this design is a one-size fits most which will limit who is able
to use and benefit from the device. The current design of the device will accommodate

10

individuals that fall within the 50th percentile male range of forearm size or so that when the
sleeve is positioned that at least two of the electrodes fall within the target muscle area. This
design however could be easily tailored to individuals that arent within this range or a variety of
sizes could be designed to accommodate more people.
One of the most important impact of this design is the return to normalcy that it will
create. The use of the armband or sleeve will give the patient a feeling of normalcy when
compared to using braces and straps across the upper body to control a mechanical prosthetic.
Lastly, the training associated with using this device will required additional training that
may initially take longer to due to the calibration operation, which is the drawback to this model
for fast access. However repeated use should reduce the amount of time required to fit and
calibrate the device.

SCHEDULE
As our project has progressed several changes have been made to the schedule proposed
in the Fall Term. The first item on the schedule, preliminary data collection for the electrode
sleeve, had a proposed completion date of November 12, 2012. This task was originally
completed, but as our project has changed, new data is needed that is still being collected. The
revised completion date for this step is February 25, 2013. The next step, design of the electrode
sleeve, had a proposed completion date of November 26. 2012. This task was completed for the
proposal, but due to changes in the project and feedback received, the design is being changed.
Additional data is being collected, in task 1, which will be important to the new design. The
revised completion date is March 4, 2013. The next task, build the electrode sleeve, had a
proposed completion date of January 28, 2013. Material orders have been sent, but not received.
We expect to receive materials by March 4, 2013 at which time we will have completed the
11

design of the sleeve. The revised completion date is April 8, 2013. The next task, the design of
an algorithm to determine which finger a person intends to flex based on EMG recordings, had a
proposed completion date of January 28, 2013. A method of solution has been outlined for this
algorithm, but the code to perform these operations is still being built. The revised completion
date for this task is March 4, 2013. The next task is the design of an algorithm that will calibrate
the first algorithm based on variations in the user between each use. The proposed completion for
this task was January 28, 2013. Like the other algorithm, the method of solution has been
outlined, and while the code is far along, it is still being built. The revised completion for this
task is March 4, 2013. Next, testing and verification of a working sleeve, was proposed to be
completed on February 11, 2013. This task has been delayed due to delays in completion of task
3. Testing to meet two criteria specific to the sleeve will be performed in the beginning of Spring
term. The revised completion date for this task is April 22, 2013. Finally, Offline testing and
verification of the algorithms was proposed to be completed by March 11, 2013. We have begun
verifying the algorithms as we build them and continue to collect data, and are proposing a new
completion date of March 18, 2013. Originally, it was proposed that online, or real-time,
testing of the completed algorithms would be completed by April 29, 2013. Since that proposal,
our solution has incorporated using two Biopac Systems and time-syncing the data offline, after
collection. Due to this requirement, and time constraints, we do not expect to be able to conduct
online, or real-time, testing, but will attempt to if time allows in the Spring Term.
In addition to the revised schedule above, other aspects of the schedule have changed.
First, Labview is no longer a part of the solution for this project, so tasks relating to Labview
have been removed. Also, there are many regular meetings that have been scheduled. Biweekly
meetings have been scheduled with Dr. Ayaz, the team advisor, at his office. Time has been set

12

aside for semiweekly team meetings, including Mondays during the assigned BMES 492 class
time and Wednesday evenings. The team has secured three lab sessions per week. These lab
sessions will be used throughout testing and development of the solution components and will
occur every Tuesday, Thursday, and Friday.

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REFERENCES
Doel, Kees Van Den, Uri M. Ascher, and Dinesh K. Pai. "Computed Myography: Threedimensional Reconstruction of Motor Functions from Surface EMG Data." Inverse
Problems 24.6 (2008): 065010. Print.
Khokhar, Zeeshan O., Zhen G. Xiao, and Carlo Menon. "Surface EMG Pattern Recognition for
Real-time Control of a Wrist Exoskeleton." BioMedical Engineering OnLine 9.1 (2010):
41. Print.
Kuiken, T. A., G. Li, B. A. Lock, R. D. Lipschutz, L. A. Miller, K. A. Stubblefield, and K. B.
Englehart. "Targeted Muscle Reinnervation for Real-time Myoelectric Control of
Multifunction Artificial Arms." JAMA: The Journal of the American Medical Association
301.6 (2009): 619-28. Print.
Lapatki, B. G., and J. P. Van Dijk. "A Thin, Flexible Multi-electrode Grid for High-density
Surface EMG." Journal of Applied Physiology (2003): n. pag. Web. 1 Nov. 2012.
Mesin, L., R. Merletti, and A. Rainoldi. "Surface EMG: The Issue of Electrode Location."
Journal of Electromyography and Kinesiology 19.5 (2009): 719-26. Print.
"Myfit.ca - The Best Exercises & Workout Plans." Myfit.ca - The Best Exercises & Workout
Plans. N.p., n.d. Web. 26 Nov. 2012. <http://www.myfit.ca/>.
Novak, Mark. Design of an Arm Exoskeleton Controlled by the EMG Signal. Professor Derin
Sherman, Dec. 2011. Web. 25 Nov. 2012.
<http://www.cornellcollege.edu/physics/files/mark-novak.pdf>.
Staudenmann, D., I. Kingma, A. Daffertshofer, D.F. Stegeman, and J.H. VanDieen. "Improving
EMG-Based Muscle Force Estimation by Using a High-Density EMG Grid and Principal
Component Analysis." IEEE Transactions on Biomedical Engineering 53.4 (2006): 71219. Print.
Raez, M. B. I., M. S. Hussain, and F. Mohd-Yasin. "Techniques of EMG signal analysis:
detection, processing, classification and applications." Biological Procedures Online. 8.
(2006): 11-35. Web. 5 Nov. 2012.
Van Duinen, Hiske, Wei Shin Yu, and Simon C. Gandevia. "Limited Ability to Extend the Digits
of the Human Hand Independently with Extensor Digitorum." The Journal of Physiology
587 (2009): 4799-810. Print.
Matrone, Giulia C, Christian Cipriani, et al. "Principal components analysis based control of a
multi-dof underactuated prosthetic hand." Journal of NeuroEngineering and
Rehabilitaiton. 7.16 (2010): 1-13. Web. 27 Nov. 2012.
Kamavuako, Ernest Nlandu, Dario Farina, et al. "Relationship between grasping force and
features of single-channel intramuscular EMG signals." Journal of Neuroscience
Methods. 185. (2009): 143-150. Web. 27 Nov. 2012.
Dechev, N., W.L. Cleghorn, and S. Naumann. "Mechanism and Machine Theory." Mechanism
and Machine Theory. 36. (2001): 1157-73. Web. 27 Nov. 2012.

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APPENDIX A - Resumes
Alan R. Cohen
arc56@Drexel.edu

Education:

Drexel University
BS Biomedical Engineering
Biomechanics

Philadelphia, PA
Anticipated Graduation June, 2013

McNeil Consumer Healthcare, Johnson and Johnson

Consent Decree Team Leader

McNeil Consumer Healthcare, Johnson and Johnson

Chemicals Procurement Co-op

McNeil Consumer Healthcare, Johnson and Johnson

Business Analytics, Supply Chain Co-op

Synthes, USA
Biomaterials Product Development and Research Co-op

Fort Washington, PA
January 2012- Present
Fort Washington, PA
September 2011- March 2012
Fort Washington, PA
September 2010- March 2011
West Chester, PA
September 2009- March 2010

Skills

Expertise in Microsoft Excel SAP Business Warehouse

Microsoft Visual Basic
Writing Standard Operating Procedures
Statistics
DMAIC Improvement Process

Ariba
Microsoft Visio & Project
Minitab

15

Gary Place
gmp48@drexel.edu

Education: Drexel University

BS Biomedical Engineering
Tissues & Material

Coursework:

Biomaterials
General Chemistry
Organic Chemistry
Thermodynamics
Biomedical Statistics

Philadelphia, PA
Anticipated Graduation June, 2013

Mechanics of Materials
Dynamic Engineering Systems
Calculus: Differential, Integral, Multivariate
Engineering Mechanics Statics
Biomeasurments

Skills:
Proficient with Microsoft Excel, Visio, Word, PowerPoint, as well as AutoDesk and
Creo/Elements(formerly Pro/E)
Proficient in programming in Maple, MatLab Enviroments, and LabView
Basic skills in C++ and Java New Jersey Emergency Medical Technician-B
New Jersey HazMat Awareness Certification New Jersey CBRNE (chemical, biological, radiological, and
nuclear plus improvised explosive) Awareness Certification

Experience:
Maple Shade First Aid Squad Volunteer EMT-B. Maple Shade, NJ Winter 2010 to Winter 2011
Collaborate with team to provide emergency services to area residents Volunteer nights and Saturdays;
average of 60.5 hours per month Commitment to complete ambulance driver course by spring 2012
Philadelphia Pipe Bending Co & Bentech inc Project Foreman.Philadelphia, PA Spring 2005 to
Spring 2010
Developed and implemented production plans that increased project workforce and productivity
Performed preventative maintenance and repaired operations of CNC hydraulic equipment Performed and taught
brass/copper welding techniques to ASME standards Interpreted and drafted component designs from both foreign
and domestic customers
Champps Americana. Marlton, NJ Bartender Spring 2007 to Summer 2008
Certified by learn2serve educational services for ethical decision making

16

Kelsey Ritter
kjr59@Drexel.edu
Education:

Drexel University
Philadelphia, PA
BS Biomedical Engineering
Anticipated Graduation June, 2013
Biomechanics & Human Performance Concentration
Mechanical Engineering Minor

Coursework:
Engineering Design & Programming Labs I,II,III
Human Physiology I,II and Musculoskeletal Anatomy
Control Systems Engineering I,II
Mechanics of Materials & Experimental Mechanics Lab
Fluid Mechanics & Thermodynamics

Biostatistics & Biocomputation

Biomedical Engineering Lab I,II,III,IV
Biomechanics & Biodynamics
Chronobioengineering I,II

Skills:
Computer: ProENGINEER, Microsoft Office, MATLAB, LabVIEW, Maple, AutoCAD
Laboratory: Cadaver lab, Computed tomography, Titrations, Micro-pipetting, Animal handling

Experience:
Johnson & Johnson - Depuy Synthes
Product Development Engineering Temp

West Chester, PA
April 2012 to October 2012

Drexel Learning Center

Tutor for Physics, Mathematics, and Engineering

Philadelphia, PA
September 2010 to September 2011

Merck & Co., Inc.

Imaging Intern

West Point, PA
June 2010 to September 2010

17

Kevin R. Kauffman
Kevin.R.Kauffman@Drexel.edu

Education:

Drexel University
BS Biomedical Engineering
Biomechanics

Coursework: Biomechanics I
Biomeasurements Lab II
Biodynamics
Thermodynamics
Biomedical Statistics

Philadelphia, PA
Anticipated Graduation June, 2013

Mechanics of Materials
Dynamic Engineering Systems
Calculus: Differential, Integral, Multivariate
Engineering Mechanics Statics
Biomedical Electronics

Skills:
Training: General laboratory training, Biohazardous waste training, Radioactive waste training
Software: AutoCAD (3 Yrs.), ProE (60 Hrs.), Matlab, LabVIEW, Microsoft Office (Word, Excel,
PowerPoint)
Miscellaneous: General construction, Shielded metal arc welding, Laser welding, Soldering,
Automotive repair and modification
Laboratory/Equipment: Analytical balance, Pipettes, Liquid-handling robots, pH meter,
Deionized water systems

Experience:
Rex Medical
Mechanical Engineer

Conshohocken, PA
September 2011 to March 2012

Johnson Matthey
Mechanical Engineer

Wayne, PA
September 2010 to March 2011

Sanofi-Aventis
Research Technician

Great Valley, PA
September 2009 to March 2010

DiRocco Brothers, Inc.

Laborer/Operator

West Chester, PA
June 2004 to September 2009

18

Sean Bishop
Sean.S.Bishop@gmail.com

Education:

Drexel University
BS Biomedical Engineering
Biomechanics

Coursework:

Biomechanics I
Biomeasurements Lab II
Biodynamics
Thermodynamics
Biomedical Statistics

Philadelphia, PA
Anticipated Graduation June, 2013

Mechanics of Materials
Dynamic Engineering Systems
Calculus: Differential, Integral, Multivariate
Engineering Mechanics Statics
Biomedical Electronics

Skills:
Training: Automotive Engineering Technician: UTI graduate 2004, Navy Nuclear Power Training,
Hunter Alignment Training Certification, Ford Accelerated Customer Training Program
Software: AutoCAD (2 Yrs.), ProEngineering, Matlab, LabVIEW, Maple, Microsoft Office (Word,
Excel,PowerPoint, Outlook)
Miscellaneous: EEG building and testing, establishing testing protocol, Soldering, Automotive
repair and modification
Laboratory/Equipment: Analytical balance, Pipettes, Titration, pH meter, Deionized water
systems

Experience:
McGowan Associates
Biomechanical Engineer

Merrion Station, PA
April 2012 to Current

Moberg Inc
Engineering Technician

Ambler, PA
April 2010 to April 2012

Lasko Products
Research Technician

West Chester, PA
October 2008 to September 2010

United Stated Navy

Nuclear Power Plant Operator Submarine

Charleston, SC
March 2004 to September 2008

19