HUMAN COMPUTER INTERFACE USING EMG

SIGNALS: HAND GESTURE BASED MANIPULATOR

CONTROL
A PROJECT REPORT
Submitted by,
CB106EI003 AKSHAY KUMAR
CB106EI007 V J ARUN RAJA
CB106EI009 ASWATH R MAHADEV
CB106EI010 BHARAT BALAGOPAL
CB106EI013 DEEPAK G VISWANATHAN
Under the guidance of Mr. SANJIVI ARUL, Asst. Professor, Department of
Mechanical Engineering
I n partial fulfilment for the award of the degree
Of
BACHELOR OF TECHNOLOGY
IN
ELECTRONICS AND INSTRUMENTATION ENGINEERING

AMRITA SCHOOL OF ENGINEERING, COIMBATORE
AMRITA VISHWA VIDYAPEETHAM
COIMBATORE 641 105
APRIL 2010
AMRITA VISHWA VIDYAPEETHAM
AMRITA SCHOOL OF ENGINEERING, COIMBATORE

BONAFIDE CERTIFICATE
This is to certify that the project report entitled HUMAN COMPUTER INTERFACE
USING EMG SIGNALS: HAND GESTURE BASED MANIPULATOR CONTROL
Submitted by,
CB106EI003 AKSHAY KUMAR
CB106EI007 V J ARUN RAJA
CB106EI009 ASWATH R MAHADEV
CB106EI010 BHARAT BALAGOPAL
CB106EI013 DEEPAK G VISWANATHAN
in partial fulfilment of the requirements for the award of the Degree of Bachelor of
Technology in ELECTRONICS AND INSTRUMENTATION ENGINEERING is a
bonafide record of the work carried out under my guidance and supervision at Amrita School
of Engineering, Coimbatore.


Project Advisor Group Coordinator
Mr. Sanjivi Arul Mr. P. V. Sunil Nag
Assistant Professor Assistant Professor (ECE dept)
(Mechanical dept) Instrumentation Design
& Research Group

Chairman ECE
Dr. V. P. Mohandas
The project was evaluated by us on:
Internal Examiner External Examiner


i
ACKNOWLEDGEMENT

Our heartfelt gratitude to our Pro Chancellor Br. Abhayamrita Chaitanya and Vice
Chancellor Dr. P. Venkat Rangan for having provided on the necessary infrastructure
required for the successful completion of our project.

We are thankful to Dr. V. P. Mohandas, Chairperson, Department of Electronics and
Communication Engineering for having given the opportunity to do this project.

We are extremely thankful to our group Co-ordinator Mr. P.V. Sunil Nag, Assistant
Professor, Department of Electronics and Communication Engineering and Prof. R.
Sundararajan, Department of Electronics and Communication Engineering for reviewing
our weekly work and providing valuable suggestions.

We are greatly indebted to express our gratitude to our project guide Mr Sanjivi Arul,
Assistant Professor, Department of Mechanical Engineering for his valuable guidance,
support and encouragement.

We are also greatly indebted to our friends for their invaluable suggestions, for their
assistance during testing of our project and also for their tremendous moral support during
tough times.

Above all we would like to thank AMMA whose words of inspiration, courage, love, support
and wisdom paved us the way for the successful completion of the project.











ii













We would like to dedicate this work to our beloved parents and our project
guide Mr. Sanjivi Arul, Assistant Professor, Department of Mechanical
Engineering

















iii
CONTENTS

S.NO TITLE PAGE
NUMBER
ACKNOWLEDGEMENT
ABSTRACT vii
LIST OF FIGURES viii
LIST OF TABLES xi
LIST OF ABBREVIATIONS xii
1 INTRODUCTION 1
1.1 BACKGROUND 3
1.2 OBJECTIVE 3
1.3 APPROACH 3
2 LITERATURE SURVEY 5
3 MYO-SIGNALS AND ITS CHARACTERISTICS 8
3.1 FUNCTIONING OF VOLUNTARY MUSCLE FIBRE 9
3.2 ACTION POTENTIAL OF A CELL 9
3.3 FACTORS AFFECTING MYO-SIGNALS 10
3.4 ELECTROMYOGRAPHY(EMG) 10
3.5 FACTORS AFFECTING EMG 11
4 SIGNAL ACQUISITION AND CONDITIONING 12
4.1 DATA ACQUISITION 13
4.2 ELECTRODES AND ITS CLASSIFICATIONS 14


iv
4.2.1 INVASIVE ELECTRODES 14
4.2.2 NON-INVASIVE ELECTRODES 14
4.3 SURFACE EMG 15
4.4 GESTURE SELECTION AND PLACEMENT OF
ELECTRODES
16
4.5 SURFACE EMG SENSOR CHARACTERISTICS 17
4.6 ELECTRODE SELECTION 17
4.7 NOISE ASSOCIATED WITH SEMG SIGNALS 18
4.7.1 ELECTROMAGNETIC RADIATION 18
4.7.2 ELECTRONIC IMPERFECTION 19
4.7.3 BASELINE NOISE 19
4.7.4 MOTION ARTIFACT 20
4.7.5 INHERENT INSTABILITY OF THE SIGNAL 20
4.7.6 PHYSIOLOGICAL NOISE 20
4.7.7 CROSSTALK 20
4.7.8 POWER LINE NOISE 21
4.7.9 NOISE IN ELECTRODE CONNECTING WIRES 21
4.8 ELECTRODE LOCATION AND AMPLITUDE
VARIATION
21
4.9 IDEAL LOCATION OF THE ELECTRODE FOR HIGH
FIDELITY SIGNAL
22
4.10 IMPORTANCE OF ELECTRODE PLACING 22
4.11 DATA ACQUISITION BOARD 23


v
4.12 SIGNAL CONDITIONING 23
4.12.1 INSTRUMENTATION AMPLIFIER 23
4.12.2 FILTERS 24
4.12.3 FILTER42 PROGRAM 25
4.12.4 FILTER42 PROGRAM STEPS 25
4.13 CIRCUIT DIAGRAM AND PCB LAYOUT 26
4.14 SOUNDCARD INTERFACE 28
5 SIGNAL PRE-PROCESSING 29
5.1 DIGITAL FILTERS 30
5.2 ADAPTIVE THRESHOLDING 31
5.3 CROPPING OF THE FILTER SIGNAL 31
6 GESTURES AND SIGNALS 32
7 CLASSIFICATION 36
7.1 ROOT MEAN SQUARE VALUE(RMS) 37
7.2 SUPPORT VECTOR MACHINES(SVM) 38
7.2.1 RESULT FOR SVM 40
7.3 K-NEAREST NEIGHBOUR CLASSIFIER 40
7.3.1 RESULT FOR K-NN 42
7.4 ARTIFICIAL NEURAL NETWORK(ANN) 42
7.4.1 RADIAL BASIS FUNCTION 42
7.4.2 RBF ARCHITECTURE 43
7.4.3 ALGORITHM OF RBF 44


vi
7.4.4 RESULT FOR ANN 44
8 PERFORMANCE ANALYSIS 45
9 MANIPULATOR DESIGN AND CONTROL 47
9.1 THE SERVO MECHANISM 48
9.1.1 RC SERVO 49
9.1.2 CONTROLLING A SERVO MOTOR 49
9.2 MANIPULATOR DESIGN AND CONSTRUCTION 50
9.3 MANIPULATOR CONTROL 51
9.3.1 PIC 16F877A PERIPHERALS USED 51
9.4 BASIC CONTROL STRATEGY 52
9.4.1 USART INTERFACE 52
9.4.2 PIC 16F877A-SERVO CONTROL ALGORITHM 54
9.5 MANIPULATOR CONTROL USING HAND GESTURES
RESULTS
55
10 CONCLUSION 58
11 FUTURE SCOPE 60
REFERENCES 62
APPENDIX-A 66
APPENDIX-B.1 75
APPENDIX-B.2 76
APPENDIX-B.3 76
APPENDIX-B.4 77


vii
ABSTRACT

The art of gesture recognition involves identification and classification of gestures. A gesture
is any reproducible action or a sequence of actions. There are lots of techniques and
algorithms to recognize gestures.
In this project, the gestures are recognized using biological signals generated by the human
body. This leads to an interaction between the human user and the computer. These bio-
signals show a quantitative change in response to a gesture. These changes are then
identified, extracted and classified. This results in the classification and recognition of
gestures. The efficiency and reliability of this method lies in the classifier that is used to
classify the signals. The identification and extraction phases of this technique are very easy
and quick, once the characteristics of the biological signals are known.
There are many biological signals that can be used for gesture recognition. Some of them are
Electroencephalogram (EEG), Electrocardiogram (ECG), and Electromyogram (EMG). EMG
signals are generally used because they have good signal strength (in the order of mV). The
acquisition of EMG signals is easy and less complex when compared to the other signals.
The final part of this project is the re-creation of the gestures that has been recognized. The
re-creation of gestures has lots of applications including prosthetic arms, robotic arm,
manipulators etc. The robotic arm has applications in lots of areas. In industries, the action of
the robotic arm can be magnified many folds to handle precise and heavy duty operations.
The robotic arm can also be used as a prosthetic hand to help the disabled. The system also
forms a benchmark tool to study various classification algorithms.











viii
LIST OF FIGURES

Figure 1.1 Overview of the Project 4
Figure 3.1 Functioning of a Muscle fibre 9
Figure 3.2 An idealised action potential of a cell 10
Figure 3.3 Schematic flow diagram showing the factors affecting EMG
signal
11
Figure 4.1 Data Acquisition System Block Diagram 13
Figure 4.2 Surface Electrodes 15
Figure 4.3 Electrode Placement Positions in the Body 16
Figure 4.4 Muscles in the human arm 16
Figure 4.5 Surface electrodes used and Delsys electrodes 17
Figure 4.6 Surface electrodes with proper spacing 18
Figure 4.7 Baseline noise and EMG signal 19
Figure 4.8 Coaxial cable 21
Figure 4.9 Electrode Location and Signal Amplitude Variation 21
Figure 4.10 Ideal location of electrodes 22
Figure 4.11 Block diagram of signal conditioning system 23
Figure 4.12 Internal Structure of Universal Active Filter UAF42 24
Figure 4.13 UAF42 Pin Diagram 24
Figure 4.14 Design guide 25
Figure 4.15 Filter component values generated by FILTER42 25
Figure 4.16 Filter Block Diagram generated by FILTER42 26


ix
Figure 4.17 UAF42 Implementation of a low pass filter with cut-off at
1000Hz
26
Figure 4.18 Circuit Diagram of One-channel Data Acquisition Board 27
Figure 4.19 PCB Layout of One-channel Data Acquisition Board 27
Figure 4.20 Back Side of the Designed Board 27
Figure 4.21 Front Side of the Designed Board 27
Figure 4.22 Block Diagram of Sound Card Interface 28
Figure 5.1 Digital filter block diagram 30
Figure 5.2 Simulink system for data acquisition 30
Figure 6.1 Strap containing DAQ hardware worn by the user 33
Figure 6.2 Angle measurement apparatus with angles marked 33
Figure 6.3 EMG signals obtained for corresponding gesture 34/35
Figure 7.1 Scatter plot for various movements taken into consideration 37
Figure 7.2 SVM algorithm for efficient classification 39
Figure 7.3 SVM Classifier for Up2 & Up3 Movement 39
Figure 7.4 SVM Classifier for Down & Grab Movement 39
Figure 7.5 SVM Classifier for Down & Up3 Movement 39
Figure 7.6 SVM Classifier for Up3 & Grab Movement 39
Figure 7.7 SVM Classifier for Up1 & Up2 Movement 40
Figure 7.8 SVM Classifier for Up1 & Up3 Movement 40
Figure 7.9 Diagram depicting KNN for classification 41
Figure 7.10 The algorithm for classification using KNN Classifier 41
Figure 7.11 Basic architecture of RBF classifier 43


x
Figure 7.12 Radial basis architecture 43
Figure 7.13 Algorithm of RBF used in MATLAB 44
Figure 9.1 Servo mechanism in an RC SERVO motor 48
Figure 9.2 A typical RC SERVO 49
Figure 9.3 Timing characteristics of a servo control PWM signal 49
Figure 9.4 Manipulator base-front and side view 50
Figure 9.5 Manipulator gripper-front and side view 50
Figure 9.6 Manipulator-complete view 51
Figure 9.7 Control Strategy for controlling the manipulator 52
Figure 9.8 Circuit Diagram of PIC16F877A based Manipulator
Controller
53
Figure 9.9 Layout Top 53
Figure 9.10 Layout - Bottom 53
Figure 9.11 A Typical USB-to-Serial Converter 54
Figure 9.12 MAX232 Pin Diagram 54
Figure 9.13 MAX232 Circuit Implementation 54
Figure 9.14 Gesture performed by the user and corresponding manipulator
movement
55/56/57









xi
LIST OF TABLES

Table 7.1 Confusion Matrix for SVM Classifier 40
Table 7.2 Confusion Matrix for KNN Classifier 42
Table 7.3 Confusion Matrix for ANN Classifier 44
Table 8.1 Time required for classification 46
Table 8.2 Classification accuracy of three Classifiers 46

















xii
LIST OF ABBRIEVIATION
1. HCI Human Computer Interface
2. EOG Electro-Oculogram
3. EEG Electroencephalogram
4. ECG Electrocardiogram
5. EMG Electromyogram
6. sEMG Surface Electromyogram
7. DOF Degrees of Freedom
8. ANN Artificial Neural Networks
9. K-NN K Nearest Neighbour
10. SVM Support Vector Machines
11. MUAP Motor Unit Action Potential
12. DB Decibels
13. PCB Printed Circuit Board
14. RMS Root Mean Square
15. ADC Analog-Digital Converter
16. DAC Digital-Analog Converter
17. GPIB General Purpose Interface Bus
18. PCI Peripheral Component Interface
19. DIP Dual Inline Package
20. RBF Radial Basis Function
21. DC Direct Current
22. RC SERVO Radio Controlled Servo
23. PWM Pulse Width Modulation
24. CAD Computer Aided Design
25. USART Universal Synchronous Asynchronous Receiver
Transmitter
26. CCP Compare/Capture/Pulse Width Modulation
27. CRT Cathode Ray Tube
28. SCI Serial Computer Interface
29. EEPROM Electrically Erasable Programmable Read Only Memory
30. TTL Transistor Transistor Logic
31. USB Universal Serial Bus
1






























CHAPTER 1
INTRODUCTION

2
Human Computer Interface involves the interaction between humans and computers. Several
techniques are used for implementing HCI. Image processing, speech recognition, touch
sensing, bio-signal processing are some of the popular HCI techniques. In this project, a
gesture recognition system is implemented using bio-signals acquired from the body. The
electrical impulses produced in the body during metabolism are analysed to recognise
specific patterns. Different types of bio-signals like electro-encephalograph (signals from the
brain), electro-oculograph (signals from the eye-socket), and electromyograph (signal
produced when muscles expand or contract) can be used. This work involves the use of
Electromyogram (EMG) signals to implement a gesture recognition system.
The basic goal of HCI is to improve the interactions between users and computers by making
computers more usable and receptive to the user's needs. Specifically, HCI is concerned with:
methodologies and processes for designing interfaces (i.e., given a task and a class of
users, design the best possible interface within given constraints, optimizing for a
desired property such as learning ability or efficiency of use)
methods for implementing interfaces (e.g. software toolkits and libraries; efficient
algorithms)
techniques for evaluating and comparing interfaces
developing new interfaces and interaction techniques
developing descriptive and predictive models and theories of interaction
A long term goal of HCI is to design systems that minimize the barrier between the human's
cognitive model of what they want to accomplish and the computer's understanding of the
user's task. Bio signals such as EEG, EMG can be used for HCI applications. A well
developed system for acquisition and analysis of bio signals will suffice all the needs for HCI
systems.
EMG is the signal produced when a muscle expands or contracts. This appears as a potential
difference on the surface. By tapping the surface we can get an EMG for the particular
gesture or action performed. This signal helps in HCI. Different actions produce different
EMGs. So by analysing and processing the EMG signal we can recognize the gesture or
action performed. A classifier system helps in classifying the EMG signal and categorising it
3
into different gestures or actions. Artificial Neural Networks, Support Vector Machines, K-
Nearest Neighbour are the common techniques used for pattern recognition and classification.
1.1 BACKGROUND
A study conducted on the use of EMG signals for HCI applications shows that the data
acquisition system normally used like NeXus-10 , Noraxon MyoTrace 400, Delsys
Bagnoli-16 are built to meet medical standards and provide high levels of accuracy and
precision. They are expensive, large in size and unsuitable for HCI applications . The
classifiers used in these systems are benchmarked for their accuracy levels giving less
priority to their efficiency for real time applications.
1.2 OBJECTIVE
The primary emphasis of this project is to build a small, cost effective and size optimized
gesture recognition system which can be easily placed on the body for constantly acquiring
and classifying the EMG signals, with an accuracy level sufficient enough for an HCI
application. The use of EMG signals for a real time system is also studied. An attempt is
made to recreate the gestures in real time.
1.3 APPROACH
This project aims at creating a system for acquiring, processing and classifying the EMG
signals for HCI applications focusing on identifying the gestures made. A block diagram
representation of the various stages of the project is shown on the next page.
The project (prototype) is mainly divided and carried out in the following phases:
Data acquisition: In this process the type of electrode used for acquisition of EMG
signals are identified and the signal value is amplified to get a better signal. The
instrumentation amplifier is used for amplification since it amplifies the differential
value.
Signal processing: The main processing of the signal takes place here. The signal is
made free of the noise by filtering. There are two filters a high pass filter and a low
pass filter which are connected in series. These two filters effectively produce band
pass filter with the pass band from 10-300 Hz. There is also an adaptive noise removal
to reduce the noise level.
4

Figure 1.1 Overview of the project
Analysis: The feature extraction is done where the proper feature is ident ified which
differs for all the gesture values. There are classes designed according to the feature
values and the classification is done using any of the classification techniques such as
KNN, SVM, ANN etc. The designed manipulator performs the gesture based on the
class of the action.
A robotic manipulator has been designed that will be controlled by the computer based on the
gesture performed by the user. The signals produced in the muscles of the user will help in
controlling the manipulator. In this project, the gestures are restricted to the ones made by the
wrist and the number of the gestures is six. The gestures made by the user are used to control
the DOF of the manipulator.



5

























CHAPTER 2
LITERATURE SURVEY
6
Surface electromyography is the technique widely used in Human Computer Interface rather
than invasive techniques due to the practical feasibility issues, which is dealt with later on in
this chapter [1].
De Luca [2] gives a comprehensive idea about the characteristics of myosignals and also
about surface electromyography. The EMG signal has maximum energy in the range of 20 -
250 Hz. Differential Electrode Configuration should be used for surface EMG measurements
in order to reduce the noise associated with the signals. The electrodes used should have
detection surfaces consisting of two parallel bars: each 1.0 cm long, 1-2 mm wide, and 1.0 cm
apart. The ideal location of the electrode is on the midline of the muscle belly, between the
myotendonous junction and the nearest innervation zone, with the detection surface oriented
perpendicularly to the length of the muscle fibres.
The differential amplifier used should have at least the following configurations:
Common mode rejection ratio > 80 dB
Noise < 2 V RMS (20 - 400 Hz)
Input impedance > 100 mega ohms
The signals obtained from the body are to be amplified using a single chip instrumentation
amplifier called AD620. This single ship amplifier satisfies all the criteria specified earlier [3,
10].
A comparative study between the temporal and spectral features shows that the use of
spectral features does not have any advantage in terms of efficiency over the temporal
features. Hence temporal features are used in our project. [4]
Y.Yazama et al [5] gives us an idea about wrist movements that can be recognized using
Artificial Neural Networks (ANN). The wrist movements can be easily classified because
there are distinct muscles involved in the generation of wrist movements. By increasing the
number of channels of EMG input signals, the gestures can be identified with more accuracy.
The Root-Mean-Square (RMS) value of a signal is an appropriate feature because RMS gives
the energy of the signal which can be extracted and does not change much during repeated
measurements. [6]
7
A combination of simple linear classifiers can be used for real-time classification assuring
acceptable recognition accuracy. The classifiers that can be used are K-NN, Bayesian
classifier, etc. [7]
Artificial Neural Networks can be used for classifying the signals. The most efficient method
in ANN is the Radial Basis Function method. [8]
An articulated robotic arm is built using servo motors. The manipulator is powered using
servo motors because they have an error control feedback mechanism which prevents the arm
from moving because of load change. [9]
















8




















CHAPTER 3
MYO SIGNALS AND ITS CHARACTERISTICS
9
3.1 FUNCTIONING OF A VOLUNTARY MUSCLE FIBER





Figure 3.1 Functioning of a muscle fibre
The signals obtained from the surface of the body are called myosignals. They are mainly
obtained due to the movement of the muscles. There are two movements of the muscles:
contraction and expansion. Skeletal muscles are composed of individual muscle fibres that
contract when stimulated by a motor neuron. Motor neurons originate in the ventral horn of
the spinal cord and consist of a cell body, dendrites and an axon. The axon projects to a
muscle where it branches, forming synapses with muscle fibres. A motor unit is the smallest
functional subdivision of a muscle. It consists of the motor neuron, its axon and all the
muscle fibres that are innervated by its branches. When motor units are activated, the
corresponding muscle fibres contract.
3.2 ACTION POTENTIAL OF A CELL
Every cell in the human body is enclosed by a cell membrane. An action potential is a
transient variation of the membrane potential of a cell membrane of an excitable cell due to
the activity of voltage gated ion channels embedded in the membrane. The course of the
action potential can be divided into five parts: the rising phase, the peak phase, the falling
phase, the undershoot phase, and finally the refractory period. During the rising phase the
membrane potential depolarizes (becomes more positive). The point at which depolarization
stops is called the peak phase. At this stage, the membrane potential reaches a maximum.
This is followed by a falling phase. During this stage the membrane potential hyperpolarizes
(becomes more negative). The undershoot phase is the point during which the membrane
potential becomes temporarily more negatively charged than when at rest. The time during
which a subsequent action potential is impossible to fire is called the refractory period, which
may overlap with the other phases. Muscle action potentials are provoked by the arrival of a
neuronal action potential at the neuromuscular junction.
10

Figure 3.2 An idealised action potential of a cell
Action potentials result from the depolarization of the cell membrane, which opens voltage-
sensitive sodium channels; these become inactivated and the membrane is repolarised
through the outward current of potassium ions. The resting potential prior to the action
potential is typically 90mV. The muscle action potential lasts roughly 24 ms, the absolute
refractory period is roughly 13 ms, and the conduction velocity along the muscle is roughly
5 m/s. The action potential releases calcium ions that free up the tropomyosin and allow the
muscle to contract.
3.3 FACTORS AFFECTING MYO SIGNALS
There are several deterministic and random factors that affect the signals generated by the
muscles. These factors are called intrinsic factors because they result due to the actions taking
place inside the body. They include number of active motor units, motor unit firing rate and
force twitch, fiber type, lactic acid pH, blood flow, fiber diameter, electrode fiber location,
subcutaneous tissues etc.
3.4 ELECTROMYOGRAPHY (EMG)
Electromyography (EMG) is a technique for evaluating and recording the activation signal of
muscles. An electromyograph detects the electrical potential generated by muscle cells when
these cells are both mechanically active and at rest. The electrical source is the muscle
membrane potential of about -90mV. Measured EMG potentials range between less than 50
V and up to 20 to 30 mV, depending on the muscle under observation. EMG signals are
essentially made up of superimposed motor unit action potentials (MUAPs) from several
motor units.
There are two kinds of EMG in widespread use: surface EMG and needle (intramuscular)
EMG. To perform intramuscular EMG, a needle electrode is inserted through the skin into the
11
muscle tissue. This is a comparatively accurate and localized method of EMG measurement.
For HCI applications this is not practically feasible. Second method of EMG measurement is
sEMG or surface EMG measurement. Here a surface electrode is used for acquiring the EMG
signals. The basic principle used in sEMG is that the electrical activity of muscles surfaces
out through the skin.
3.5 FACTORS AFFECTING EMG

Figure 3.3 Schematic flow diagram showing the factors affecting EMG signal
Extrinsic factors are caused due to the sensor design or the placement of the sensor. Fig. 3.3
shows all the intrinsic and extrinsic factors that affect the myo-signal and EMG respectively.
The figure also shows the interconnections between the factors. The deterministic factors are
the ones that can be identified and can be corrected. The EMG amplitude and frequency are
the two variables which changes according to these causative factors. The force, muscle
activation muscle fatigue and other physical details which need to be inferred from the EMG
signal is done by the analysis of the two variables namely amplitude and frequency of the
EMG signal.
It is to be noted that there are several intermediate factors such as signal cross talk,
conduction velocity and deterministic factors such as MUAP amplitude and frequency,
number of active MU which are caused by the causative factors, account for the variation in
EMG signal parameters.

12





























CHAPTER 4
SIGNAL ACQUISITION AND CONDITIONING
13
The myo-signals generated by the body have to be acquired into the system for processing
and classification. Thus it becomes a typical data acquisition task which requires acquisition
of signals, conditioning of acquired signal and sending the signals to the computer in digital
form.
4.1 DATA ACQUISITION
Data acquisition (DAQ) is the process of sampling of real world physical conditions and
conversion of the resulting samples into digital numeric values that can be manipulated by a
computer. A data acquisition and data acquisition system typically involves the conversion of
analog waveforms into digital values for processing [22,23].
Block diagram of a typical Data Acquisition System is shown below.

The components of a data acquisition systems include:
Sensors that convert physical parameters to electrical signals.
Signal conditioning circuitry to condition and to convert sensor signals into a form
that can be converted to digital values.
Acquisition Hardware consisting of Analog-to-digital converters, which convert the
conditioned sensor signals to digital values.
Computer, containing specific software, to comprehend the incoming digital data and
to enable further processing.
The signal conditioning block is very critical in a data acquisition system. It must be capable
of amplifying the signal in order to increase the power of the signal and filter out the noise
present in the signal [38]. The signals obtained from the body are of very low amplitude and
power. They contain noise which can degrade the quality of the signal. The Analog-to-Digital
Figure 4.1 Data Acquisition System Block Diagram
14
Converter (ADC) is generally equipped with sample-and-hold circuitry and converts the
analog samples into digital values. The digital data is then sent to the computer through
various ports such as parallel port, serial port, USB or through sophisticated, high speed
interfaces such as PCI, GPIB etc.
Generally, all computers are equipped with sound cards which enable connectivity to
microphones and speakers. The sound cards contain high speed, and high resolution Digital-
to-Analog Converters (DACs) and ADCs which can also be used as an interface to send
analog signals into the computer. In our project, we make use of the sound card that is present
in the computer to send the myo-signals after conditioning.
4.2 ELECTRODES AND ITS CLASSIFICATION
An electrode is an electrical conductor used to make contact with a non metallic part of a
circuit. Electrodes can be broadly classified into two categories namely,
1. Invasive type
2. Non Invasive type
4.2.1 INVASIVE ELECTRODES
Invasive electrodes are inserted into the muscle directly piercing the skin. The EMG signal
acquired is highly localized and devoid of most of the noises attributed to the EMG signals.
There are two types of invasive electrodes that are commercially available. They are Fine
wire type and Needle type [17,18].
For HCI applications, invasive techniques are not practically feasible.
4.2.2 NON INVASIVE ELECTRODES
Non invasive electrodes are mainly in the form of surface electrodes. These electrodes are
placed on the surface of the skin and the signals are taken from there. These electrodes
require a conducting gel to be applied on the surface of the skin so as to assist in the
conduction of the signal from the muscles to the electrode. Generally they are pre-gelled
silver / silver chloride electrodes and are disposable and are cheaper than other electrodes.
15

Figure 4.2 Surface Electrodes
The electrodes are made of plastic foam material and have a silver plated disk with a snap to
attach the leads. As mentioned above it has a gel which is generally an electrolyte like the
silver, silver chloride electrolyte. It also has an adhesive surface to attach it to the skin. There
are quite a few factors that affect the quality of the signal that is obtained out of the electrode.
The location of the electrode plays a very important role in determining the quality of the
signal achieved. The electrode skin interface contributes to noise if it is not kept clean and
dust free. The signals from the muscles in close proximity to the muscle in consideration also
contribute to the error in the signal. This concept of other muscle signals interfering is called
Cross talk. The main reason as to why this electrode is preferred over the invasive type of
electrode is that it is not necessary to make incisions in order to place the electrodes. Also it
is cheaper than any of the invasive electrodes taken into consideration. The disadvantage of
this electrode over the invasive electrodes is that these electrodes have very little resistance to
noise and the contribution of error due to cross talk is very high.
4.3 SURFACE EMG (sEMG)
The small electrical signal which comes from the active muscles is detected by electrodes
placed on the skin directly above the muscles. The procedure that measures the muscle
activity from the skin is referred to as sEMG. There are many locations in the body where the
electrical activity of the muscles surfaces out.
To control the manipulator, proper forearm muscles have to be selected. Figure 4.3 shows the
various electrode placement sites in the human body. Some of the muscles involved in the
forearm movements are: Wrist extensor group, wrist flexor group, Flexor Carpi Radialis,
Flexor Carpi Ulnaris, Brachioradialis, etc.

16

Figure 4.3 Electrode placement positions in the body
4.4 GESTURE SELECTION AND PLACEMENT OF ELECTRODES
Various movements of the wrist were considered as the gestures. Five movements of the
wrist were identified. These are:
1. Flexion of wrist at an angle of one third of maximum possible movement
2. Flexion of wrist at an angle of two third of maximum possible movement
3. Flexion of wrist at maximum possible angle.
4. Extension of the wrist backwards at a maximum possible angle.
5. Cylindrical grabbing of an object.
Wrist movement was selected because of the relative simplicity to restrict the degree of
freedom to just one and also because proper classification of these gestures could lead to
many practical uses. Muscles involved in these movements are the flexor carpi radialis and
flexor carpi ulnaris.


Figure 4.4 Muscles in the arm
17
These two muscles can be identified from outside the skin surface by performing the wrist
flexion and extension and identifying the group of muscles that move.
4.5 SURFACE EMG SENSOR CHARACTERISTICS
In addition to the electrical characteristics of the sensor, the design of the sensor should
address other practical factors such as:
1. Effectiveness of the electrical contact between the electrode and the skin
2. Facility of attaching the sensor to the skin
3. Durability of the adhesion to the skin
4. Insensitivity of the electrical and mechanical performance to the presence of sweat.
5. Insensitivity to movement artifact
6. Ease of use on small muscles
4.6 ELECTRODE SELECTION

Figure 4.5 Surface electrodes used and delsys electrodes
Two types of sEMG electrodes were under our consideration for this project. These are the
Delsys differential electrodes and the common monitoring surface electrodes. In the
preliminary stage itself it was decided to select the common surface electrodes over the
Delsys electrodes because of the following reasons:
1. Delsys electrodes are highly sensitive to the location of the electrode on the muscle.
Since positioning the electrodes with a high level of accuracy is not practically feasible, the
use of Delsys electrodes is a disadvantage
2. The high sensitivity provided by the Delsys electrodes is not required for a gesture
recognition system. So the use of these electrodes are not cost efficient.
18
The common surface electrodes chosen were then used in differential configuration to
eliminate common mode noise. A reference electrode was kept on the forehead where there is
very little muscle activity.
The electrodes are circular is shape as given in figure. In a differential configuration the
distance between the electrodes is more than two centimetre normally. But optimally we need
to obtain one centimetre distance between the electrodes. As shown in figure, the electrodes
are cut on one side, i.e. the plastic part of the electrodes with the adhesive, so that when they
are placed side by side the distance obtained between them is one centimetre.

Figure 4.6 Surface electrodes with proper spacing
4.7 NOISE ASSOCIATED WITH SURFACE EMG SIGNALS
The EMG signals are acquired using the surface electrodes. There may be many noise related
to the placement of electrodes and movement of muscles. Electromagnetic radiation, inherent
noise in electronics, and motion artifact will adequately cover the types of noise that will be
encountered in obtaining the EMG signal. For maximizing the signal output signal-to-noise
ratio must be high, this can be obtained by minimizing the above factors.
4.7.1 ELECTROMAGNETIC RADIATION
The magnitude of the noise at the skin surface can be in the range of 3 times that of the EMG
signal making its removal imperative. Any electromagnetic device generates and may
contribute noise. The surfaces of the bodies are constantly inundated with electric-magnetic
radiation and it is virtually impossible to avoid exposure to it on the surface of the earth. The
dominant concern for the ambient noise arises from the 60 Hz (or 50 Hz) radiation from
power sources. A high Q value notch filter would suffice for removing this interference,
however; because the desired signal has energy located at this frequency a differential
amplification process is a superior solution to this problem. The design that was implemented
for this project uses just such a method. Figure below shows how a differential amplifier can
19
be used to remove noise. Due to the fact that the electromagnetic interference is common to
both electrodes subtracting the signals can remove the commonalities in the signal.
4.7.2 ELECTRONICS IMPERFECTION
There are some inherent noise in the electronics components used for the detection and
recording of EMG signals. All electronics equipment generates electrical noise. This noise
has frequency components that range from 0 Hz to several thousand Hz. This noise cannot be
eliminated; it can only be reduced by using high quality electronic components, intelligent
circuit design and construction techniques. The basic circuit includes AD620 and UAF42.
These produces very low amplitude noise which cannot be eliminated during acquisition but
the noise is removed by thresholding the signal acquired.
4.7.3 BASELINE NOISE
Noise due to the skin- electrode interface is reduced by effective skin preparation. The
baseline noise originates in the electronics of the amplification system and at the skin-
electrode interface. The ionic exchange between the metal in the electrode and the
electrolytes in the salts of the skin generates an electro-chemical noise. The magnitude of
noise is proportional to the square root of the resistance of the electrode surface. Thus, it can
be reduced by increasing the electrode area and by cleaning the electrode surface, but it
cannot be eliminated.

Figure 4.7 Baseline noise and EMG signal
The thermal-noise is generated by the first stage of the amplifiers and is due to a physical
property of the semiconductors. It also cannot be eliminated. Both noises are referred to as 1/f
noises, with the amplitude of the frequency spectrum greatest at 0 Hz and continuously
20
decreasing with increasing frequencies. The electrochemical noise is generally greater than
the thermal noise.
4.7.4 MOTION ARTIFACT
The two main sources of motion artifact are the interface between the detection surface of the
electrode and the skin and the movement of the cable connecting the electrode to the
amplifier. This motion usually causes lower frequency noise in the range of 0 20 Hz. The
removal of this motion artifact is accomplished via a simple high pass filter with a cut-off
frequency somewhere between 15-40 hertz. The removal of this noise would lead to loss of
signal so there must be a trade off so as to optimize between the signal and the noise.
4.7.5 INHERENT INSTABILITY OF THE SIGNAL
The amplitude of the EMG signal is quasi-random in nature. The frequency components
between 0 and 20 Hz are particularly unstable because they are affected by the quasi-random
nature of the firing rate of the motor units which, in most conditions, fire in this frequency
region. Because of the unstable nature of these components of the signal, it is advisable to
consider them as unwanted noise and remove them from the signal. The removal of first 5000
samples is done to prevent the signal being affected by noise. The first 5000 samples are
initialised to zero and the remaining samples from 5000 to 8000 are considered as the signal.
There is also an adaptive way to find the noise according to the amplitude level.
4.7.6 PHYSIOLOGICAL NOISE
Noise from the other process occurring in the body also affect the EMG signals (i.e.) ECG,
EOG and respiratory signals also contribute to the noise. This noise cannot be eliminated but
judicious placement of electrodes can reduce it.
4.7.7 CROSS-TALK
The use of large electrode area and large inter-electrode spacing invariably leads to detection
of cross-talk which is often misinterpreted as activity from the monitored muscle. In clinical
applications this misunderstanding may lead to false diagnosis. In the research field it may
lead to a basic misunderstanding of the performance of the monitored muscle. By using
smaller electrodes and shorter inter-electrode spacing, the cross-talk signal would be
substantially smaller.
21
4.7.8 POWER LINE NOISE
All the circuits need power supply for operation. The power supply used in India is 230V,
50Hz. So there is a 50Hz component in the signal which acts as a major contributor for the
noise. The use of batteries considerably reduces this noise level.
4.7.9 NOISE IN ELECTRODE CONNECTING WIRES
The leads or the connecting wires from the electrodes carry the signals from the body surface
to the signal acquisition board. The raw signal is most susceptible to noise during this
transmission. Normally coaxial cables are used to reduce noise. Coaxial cable is an electrical
cable with an inner conductor surrounded by a flexible, tubular insulating layer, surrounded
by a tubular conducting shield. It has two conductors, the central wire and the tubular shield.
At any moment the current is travelling outward from the source in one of the conductors,
and returning in the other.

Figure 4.8 Coaxial cable
4.8 ELECTRODE LOCATION AND AMPLITUDE VARIATION
The location of the sensor on the muscle renders a dramatically different surface EMG signal
characteristics. Note that locating the sensor in the proximity of the tendon origin, the
innervation zone, and the perimeters of the muscle yields lower amplitude signals.

Figure 4.9 Electrode Location and Signal Amplitude Variation
22
The fibres in the middle of the muscle have a greater diameter than those at the edges of the
muscle or near the origin of the tendons. Because the amplitude of action potential from the
muscle fibres is proportional to the diameter of the fibre, the amplitude of the EMG signal
will be greater in the middle of the muscle. A sensor located on the innervations zone will
detect the cancellation of the action potentials travelling in opposite direction, and will
generally have lower amplitude. The preferred location is away from all these boundaries,
towards the middle of the muscle surface.
4.9 IDEAL LOCATION OF THE ELECTRODES FOR A HIGH
FIDELITY SIGNAL
Figure 4.10 indicates the preferred location for placing the sensor in the middle of the muscle
surface and as far away as possible from the innervation zones and tendon origins. The small
yellow striped areas indicate the innervation zones which in large muscles are located around
the periphery.

Figure 4.10 Ideal locations of electrodes
4.10 IMPORTANCE OF ELECTRODE SPACING
By maintaining a fixed inter-electrode spacing, the bandwidth of the surface EMG signal will
remain constant. The band-width of the sensor determines how much of the signal energy and
the noise energy the acquired signal constitutes. If the electrode spacing is varied as may
occur with sensors that have separate electrodes that may be attached with variable spacing at
each application, then the information content in the acquired surface EMG signal will not be
constant and comparison among muscles and subjects will be unreliable. A small inter-
electrode spacing is preferable as it will reduce the amount of crosstalk signal detected from
adjacent active muscles. The greater the spacing of electrodes greater is the difference of the
propagating cross-talk signal. Generally one centimetre is the preferred compromise.
23
4.11 DATA ACQUISITION BOARD
Our Data Acquisition System is specifically designed to pick up the surface EMG (sEMG)
signals from the body, condition it and send the conditioned signal to the PC sound card. The
source of the signal, the muscles, generates electrical signals directly. So there is no need for
a sensor to convert any physical action into an electrical signal. Thus, the EMG signals have
to be properly picked up from the surface with least noise and maximum conductivity. For
this purpose, pre-gelled surface electrodes are fixed on the signal pickup site and connected
to the Data Acquisition board through EMG leads.
Out of the three electrodes, two electrodes serve as the differential pair to carry the EMG
signals and one electrode serves as the reference electrode. The EMG signals are of very low
amplitude (order of mV) and contain noise from unknown sources. Thus the data acquisition
board contains an analog filter and an instrumentation amplifier to condition the signal.
4.12 SIGNAL CONDITIONING

Figure 4.11 Block diagram of signal conditioning system
4.12.1 INSTRUMENTATION AMPLIFIER
The data acquisition system consists of an instrumentation amplifier and a filter to condition
the raw EMG signal. The main reason for choosing the instrumentation amplifier over a
differential amplifier is because the input impedance problem in the differential amplifier
which is compensated in the instrumentation amplifier. The number of operational amplifiers
used in the instrumentation amplifier is two more than the single differential amplifier. This
is done so as to improve the input impedance of the circuit. The two extra operational
amplifiers are used as voltage followers. The AD620 chip [20] is being used as a single chip
instrumentation amplifier in data acquisition system.
The AD620 (DIP package) is a low cost, high accuracy instrumentation amplifier that
requires only one external resistor to set gains of 1 to 1000. (Refer Appendix B.1).
24
4.12.2 FILTERS
The maximum power of the EMG signal is contained in the frequency range of 10 to 300 Hz
[4]. Since the range is small, a combination of analog filer and digital filter is used in the
signal acquisition process. An analog low pass filter with a cut-off frequency of 1000 Hz is
chosen to filter the incoming EMG signals from the body. This is to ensure a safe margin so
that the important information in the signal is not lost. Further filtering is done in the software
by employing digital filtering techniques (Refer chapter 5).
Active filters are generally employed for low frequency applications to reduce size and cost.
Active filters are designed using OP-Amps, Resistors and Capacitors. Manual soldering of
these filter components on a PCB may add up the noise in the circuit and moreover future
modifications may become impossible. Hence a single chip filter such as the Universal
Active Filter UAF42 can be used. It can be configured for various types of high-pass, low-
pass, and band-pass filters [Refer appendix B.2]. The filters implemented with the UAF42 are
time-continuous, free from the switching noise and aliasing problems of switched-capacitor
filters. The implementation of filter is very easy requiring only few external resistors to
implement the various filter configurations. Each UAF42 IC can be used to realize a filter of
order 2.

Figure 4.12 Internal Structure of Universal Active Filter UAF42




Figure 4.13 UAF42 Pin Diagram
25
A DOS-compatible filter design program called FILTER42 allows easy implementation of
many filter types, such as Butterworth, Bessel, and Chebyshev. A fourth, uncommitted FET-
input op amp (identical to the other three) can be used to form additional stages, or for special
filters such as band-reject and Inverse Chebyshev.
4.12.3 FILTER42 PROGRAM
The FILTER42 program is a DOS-compatible program that guides through the filter design
process and automatically calculates the component values. Using this program, Low-pass,
high-pass, band-pass, and band-reject (or notch) filters can be designed. FILTER42 supports
the three most commonly used all-pole filter types: Butterworth, Chebyshev, and Bessel.
4.12.4 FILTER42 PROGRAM STEPS
The program gets the input such as filter type, order, cut-off frequency etc from
the user.

Figure 4.14 Design guide

The program then shows a frequency plot of the designed filter and then displays
the list of component values.

Figure 4.15 Filter component values generated by FILTER42
26

Figure 4.16 Filter Block Diagram generated by FILTER42
The final circuit diagram is developed with the generated component values from the
FILTER42 program and is shown below.

Figure 4.17 UAF42 Implementation of a low pass filter with cut-off at 1000Hz
Thus with very few external passive components, the filter has been designed with a cut-off
frequency at 1000Hz and implemented on the Universal Active Filter UAF42.
4.13 CIRCUIT DIAGRAM & PCB LAYOUT
One channel of EMG data acquisition system consists of one AD620 instrumentation
amplifier and one UAF42 filter chip configured to work as a low pass filter with a cut-off
frequency at 1000Hz. Each channel takes the raw differential EMG signal from the sEMG
electrodes and amplifies and filters it.
In this project, two channels are used and hence two sets of instrumentation amplifiers and
filters are employed. The system is designed in such a way that each channel has a separate
Printed Circuit Board (PCB) with connectors for input, output and power supply. Hence there
are two boards in total for the two EMG channels.
27
The circuit diagram for one channel is drawn using OrCAD Schematic Capture tool. The
circuit is shown on the next page.

Figure 4.18 Circuit diagram of one-channel data acquisition board
The PCB layout for each board is designed using EAGLE 5.7.0 (Light Edition). The layout is
shown below.



Figure 4.19 PCB Layout of One-channel Data Acquisition Board

Figure 4.20 Back Side of the Designed Board Figure 4.21 Front Side of the Designed Board
The layout for the board is designed in such a way that a ground track surrounds the entire
board. This ensures minimal noise impact from external sources and crosstalk. Moreover, the
signal tracks from the leads to the pins of the amplifier are also surrounded by ground tracks.
Any crosstalk occurring between the signal tracks will be grounded.

28
4.14 SOUND CARD INTERFACE
A sound card is a computer expansion card that can input and output sound under control of
computer programs. Many computers have sound capabilities built in, while others require
these expansion cards if audio capability is desired. Most sound cards have a line-in
connector where the sound signal from a cassette tape recorder or similar sound source can be
input. Another typical external connector is the microphone connector, for connecting to a
microphone or other input device that generates a relatively lower voltage than the line in
connector. [2]
A typical sound card has two hardware channels. These two hardware channels are used to
input the amplified and filtered EMG signals into the computer. The Simulink file in
MATLAB initializes the sound card with the required minimum sampling frequency (8000
samples/second) and initiates acquisition by creating objects.

Figure 4.22 Block Diagram of Sound Card Interface
Each computer has different sound card specifications. Hence a preliminary study is required
to study about the sound card used and to design the data acquisition system accordingly. In
many cases, impedance matching has to be done to ensure the integrity of the signals. In this
project, the board is designed to meet up with the specifications of sound card used.
The outputs from the data acquisition system boards are sent to the line-in jack of the sound
card through a standard 3.5 mm stereo microphone jack. The 3.5 mm stereo microphone jack
consists of three terminals. Two terminals are connected to the outputs from 2 data
acquisition boards and the third terminal is the ground. The connection from the board to the
jack is made using a 2 core shielded cable.

29



















CHAPTER 5
SIGNAL PRE-PROCESSING

30
The signals obtained from the sound card have to be filtered further by employing digital
filters in MATLAB. By employing digital filters, the filter specifications can be modified
anytime depending on the application.
5.1 DIGITAL FILTERS
Two digital filters are used for filtering of signals. 95% of the energy of EMG signal lies in
the frequency range of 10 to 300 Hz. Hence in the Simulink in MATLAB there are two
digital filters connected in series and connected to scope to view the output of the performed
action.


Figure 5.1 Digital filter block diagram
High pass filter specifications: IIR, Butterworth Filter, and Cut off 10 Hz
Low pass filter specifications: IIR, Butterworth Filter, and Cut off 300 Hz



Figure 5.2 Simulink system for data acquisition
31
Since there are two channels one in the upper muscle in the arm and other in the lower part of
the arm. These two channels are to get the different movements. Hence we get two scope
values as the output of the movement. The RMS values of both the output are calculated.
These values are taken as the feature value. The two filters connected in series are a high pass
filter and a low pass filter. The high pass filter used here passes all the value of frequencies
above 10 Hz since the values of the frequencies below 10 Hz has many unwanted noise
signals which does not give the actual signal. This filter is connected in series with a low pass
filter which passes all the frequency value below 300 Hz. Hence these two filters together
form a band pass filter of the band pass frequency of 10-300 Hz.
5.2 ADAPTIVE THRESHOLDING
Since the EMG signal does not have any regular pattern as ECG there is a need for adaptive
thresholding for removal of noise. EMG signals are random signals so the noise is also
random. Hence in the part where gesture is obtained also contains some random noise. To
obtain the actual value of the amplitude of the gesture, the noise from that part of the signal
must be removed.
5.3 CROPPING OF THE FILTERED SIGNAL
The exact gesture is required to identify the gesture without any other noise. As mentioned
above there are many types of noise which affect the quality of the signal, so only the gesture
part must be extracted. The sound card has a sampling rate of 8000 but the first 5000 samples
are initialized to 0 so as to remove the initial noise. Using thresholding method the baseline
noise is also removed. The part after the gesture is removed by comparing the amplitude
values of the previous values. By comparing the value with the database values the gesture is
identified.






32

















CHAPTER 6
GESTURES AND SIGNALS
33
The data acquisition boards and all the other leads are attached to a strap which is worn by
the user on his/her upper arm. The leads are plugged to the electrodes which are attached onto
the skin. The data acquisition boards, fixed to the strap, ensure gestures to be performed by
the user without any hindrance and hassle. The leads and other wires are neatly tied to the
strap.

Figure 6.1 Strap containing DAQ hardware worn by the user
To measure the angle of the wrist movements, an angle measurement apparatus is used. The
apparatus is made of wood and contains a platform to rest the elbow of the users hand. The
angles are marked on the board which enables the user to stop the wrist action at the
appropriate angle (25, 45, and 65 degrees). This ensures correct and repeatable acquisition of
signals during training of classifiers.

Figure 6.2 Angle measurement apparatus with the angles marked
34
The signals obtained for the various gestures are shown below.

[a]

[b]

[c]

[d]
35

[e]

[f]

Figure 6.3 EMG signals obtained for [a] No movement, [b] Up1 movement, [c] Up2 movement,
[d] Up3 movement, [e] Down movement, [f] Grab movement

Figures [e] and [f] show that the channel two is active only during the down and grab
gestures. This shows that the muscle corresponding to the channel two is active only during
these two movements. Figures [b],[c] and [d] shows that the amplitude of the signals
increases as the angle of the wrist increases. The signal is almost zero when no move
movement is made.





36















CHAPTER 7
CLASSIFICATION

37
Classification is the assignment of a class label to an input object. There are basically two
types of classification: Binary classification and Multiclass classification. Multiclass
classification is used in this project since there are more than two classes or gestures.
Classification is done based on the features of the input object. Features are the individual,
measurable heuristic properties of the phenomena being observed. Choosing discriminating
and independent features is a key to any pattern recognition algorithm being successful in
classification.
7.1 ROOT MEAN SQUARE (RMS) VALUE
The features that we are considering are of two types. They are spectral and statistical. The
spectral feature space consists of the Fourier coefficients, the spectral intensity and the
Fourier variance of the input signal. The statistical feature space consists of the following
features: Maximum, Minimum, Mean value, Variance, Signal length, Root Mean Square.
The feature used in this project is the RMS value [54]. This is because the difference in the
RMS value is much more significant for different actions performed for the given hardware
setup. RMS value is the square root of the arithmetic mean of the squares of the original
values. The quality of the spectral features isnt satisfactory for this hardware and hence just
one feature is used to classify our signals [28].

Figure 7.1 Scatter Plot for the various movements taken into consideration.
However, when two channels are used, the separation between the two RMS values is more
evident and it is possible to separate each class from the other based on this.
38
7.2 SUPPORT VECTOR MACHINES
Support Vector Machines is a tool that is frequently used in order to classify a particular input
data into various groups. In order to ensure proper classification, the classifier is trained with
some training data [27, 32]. The groups for classification are:
1. Down Movement 4. Up 1 Movement
2. Up 2 Movement 5. Up 3 Movement
3. Grab Movement 6. No Movement
The given input data can be classified using two approaches which are:
1. One vs. Rest approach
2. One vs. One approach
In this project we are using the One vs. One approach because it is a much less time
consuming and easier approach to achieve the required goal. The feature we are using in this
project in order to assist in the classification is the Root Mean Square value of the signal.
This RMS value provides visible difference in values for the various actions performed.
Initially, a database is made using the RMS values of the various signals acquired for their
respective action. This database is then used to train the SVM classifier. There are 2 channels
in the acquisition board we are using and hence we get 2 coordinates i.e. RMS values for all
the signals. The plot of the various RMS values is shown in Fig 7.1.
Using the one vs. one approach, we have optimized the number of classifiers required to 6.
The following are the classifiers we use:
1. Down vs. Up3 4. Up1 vs. Up2
2. Up1 vs. Up3 5. Up2 vs. Up3
3. Up3 vs. Grab 6. Down vs. Grab
These classifiers were all decided based on the experiments performed. The reasons can be
observed in Fig.6.1 itself. The muscles used for the down movement are different from those
used in the up movement. This gives us sufficient information to separate the down from the
up3 movement. Then, we need to separate the up1 movement from up2. If up1 movement is
the output then we leave it as it is. If up2 movement is the output, we further verify it with
up3 movement to ensure that it is up2 movement. If it so happens that the output is up3
movement, it is further verified to ensure that it isnt grab movement. This way at each step
there is elimination of certain movement. Fig 7.2 describes the exact algorithm.
39

Figure 7.2 SVM algorithm for efficient classification.
Using the above algorithm chart, it is possible to classify the signals into their respective
groups.
Figure 7.3 SVM Classifier for Up2 & Up3 Movement Figure 7.4 SVM Classifier for Down & Grab Movement

Figure 7.5 SVM Classifier for Down & Up3 Movement Figure 7.6 SVM Classifier for Up3 & Grab Movement

40


Figure 7.7 SVM Classifier for Up1 & Up2 Movement Figure 7.8 SVM Classifier for Up1 & Up3 Movement

7.2.1 RESULT FOR SVM







Table 7.1 Confusion Matrix for SVM Classifier
The confusion matrix for the SVM classifier shows that it gives an accuracy of around 96%.
The values have been taken for fifty training samples.
7.3 K-NEAREST NEIGHBOURHOOD CLASSIFIER
K Nearest Neighbourhood involves the calculation of the distance of a particular data from
the different clusters. Once the distances are calculated, the minimum of them is determined
and correspondingly used to classify the particular data into that particular class.
Distance can be calculated in different ways. They are Euclidean Distance, Chessboard
Distance, City Block Distance [47]. In this project the Euclidean Distance is used to
determine the distance of the input data from the different clusters. This distance formula is
used because it is the commonly used formula in most engineering applications. Euclidean
distance refers to the following formula:
De(x, y) = ((x1-x2)2+ (y1-y2)2)1/2
41
The RMS value of the input channels are determined and taken as the coordinates of the
particular input signal. The Euclidean Distance formula is used to determine the distance of
the input data point from the clusters up1, up2, up3, down and grab. Based on the distance
acquired, the minimum value of the distances is calculated and is used to classify the data
into the group.








Figure 7.9 Diagram depicting KNN for classification

Figure 7.10 The algorithm for classification using KNN Classifier
Using the above algorithm it is possible to classify the input data using the K Nearest
Neighbourhood Classifier.
42
7.3.1 RESULT FOR KNN





Table 7.2 Confusion Matrix for KNN Classifier

KNN classifier efficiently classifies the signal since it finds the distance between the new
sample and the cluster values. The accuracy is almost similar to SVM.
7.4 ARTIFICIAL NEURAL NETWORK
Artificial neural networks are non linear information processing devices, which are built from
interconnected elementary processing devices called neurons. An artificial Neural Network
(ANN) is an information processing paradigm that is inspired by the way biological nervous
systems, such as the brain, process information. The novel structure of the information
processing system is composed of a large number of highly interconnected processing
elements working in union to solve specific problems. An ANN is configured for a particular
application through a learning process.
7.4.1 RADIAL BASIS FUNCTION
The RBF networks are single-layer perceptron networks that are commonly used to perform
classification tasks. The performances of a RBF classifier will depend on the success of
tuning the weights and the centres using the training set. A RBF classifier performs a
clustering operation on the symptom vectors in the training set. If the symptom vectors
corresponding to a pre-specified state naturally group themselves in more than one cluster in
the m-dimensional space, then RBF classifiers need as many centres per category as the
number of natural clusters associated with that category to solve the problem. In radial basis
function the goal and the spread constant is specified, which gives a more accurate output by
classifying the input correctly [7].
43

Figure 7.11 Basic architecture of RBF classifier
7.4.2 RBF ARCHITECTURE
Radial basis architecture consists of two layers: a hidden radial basis layer of S
1
neurons, and
an output linear layer of S
2
neurons.

Figure 7.12 Radial basis architecture
Radial basis function is the most efficient network design. In this the input values are read
and target values are specified according to the number of class available. Designing a radial
basis network often takes much less time than training a sigmoid/linear network, and can
sometimes result in fewer neurons' being used. The target our input is a 5-by-65 matrix which
contains 1 for the feature value and 0 when there is no specified feature. The goal and spread
constant is specified. The network is trained to get the desired output. The maximum value of
the matrix is found and the index value is written separately. The confusion plot of the
network is drawn to get the accuracy of the classification.


44
7.4.3 ALGORITHM OF RADIAL BASIS FUNCTION

Figure 7.13 Algorithm of RBF used in MATLAB
7.4.4 RESULT FOR ANN







Table 7.3 Confusion Matrix for ANN Classifier
ANN classification method is less efficient compared to KNN and SVM since it depends
on the number of neuron centres. The accuracy is lower than the other classification
techniques still it provides an accuracy level of 92%.






45

















CHAPTER 8
PERFORMANCE ANALYSIS
46
The real time efficiency of the classifiers and the accuracy of classification will be the scope
of this chapter.The real time efficiency refers to the delay in the response of the classifier to a
particular action performed. In this case, the real time efficiency of the K Nearest
neighbourhood classifier is the most optimal. It takes approximately 1.2 milliseconds for the
response to be generated. Support vector Machines is also an effective means for
classification with a delay of about 4 milliseconds. In comparison, the Artificial Neural
Network takes 12 milliseconds to efficiently classify the input signal. The table given below
shows the details of the time required for classification for the three classifiers.
Table 8.1 Time required for classification

The table given below summarises the classification accuracy of the three classifiers.

Table 8.2 Classification accuracy of three classifiers
CLASSIFIER
CLASSIFICATION ACCURACY
Up1 Up2 Up3 Down Grab
SVM 94% 94% 98% 96% 96%
ANN 92% 92% 92% 90% 92%
KNN 96% 96% 96% 96% 96%




47





























CHAPTER 9
MANIPULATOR DESIGN AND CONTROL
48
In this project, a simple Articulated Robot Manipulator is built to demonstrate the controlling
capability of the designed system. Articulated robots are powered by variety of means such as
DC motors, Stepper motors, Servo motors etc.
DC motors and stepper motors do not have a positional feedback systems incorporated in
them; hence they suffer from imbalance when the shaft moves due to excess load. Whereas a
servo motor has a potentiometer based positional feedback to correct the error generated due
to excessive loading conditions.
9.1 THE SERVO MECHANISM
A servomechanism or servo is an automatic device that uses error-sensing feedback to correct
the performance of a mechanism. The term correctly applies only to systems where the
feedback or error-correction signals help control mechanical position or other parameters.









Figure 9.1 The Servomechanism in an RC Servo Motor

A common type of servo provides position control. Servos are commonly electrical or
partially electronic in nature, using an electric motor as the primary means of creating
mechanical force [8]. Usually, servos operate on the principle of negative feedback, where
the control input is compared to the actual position of the mechanical system as measured by
some sort of transducer at the output. Any difference between the actual and wanted values
(an "error signal") is amplified and used to drive the system in the direction necessary to
reduce or eliminate the error. This procedure is one widely used application of control theory.

49
9.1.1 RC SERVOS

Figure 9.2 A typical RC Servo
RC servos are hobbyist remote control devices typically employed in radio-controlled
models, where they are used to provide actuation for various mechanical systems such as the
steering of a car, the flaps on a plane, or the rudder of a boat.
RC servos are composed of an electric motor mechanically linked to a potentiometer. Pulse-
width modulation (PWM) signals sent to the servo are translated into position commands by
electronics inside the servo. When the servo is commanded to rotate, the motor is powered
until the potentiometer reaches the value corresponding to the commanded position. The RC
servos have very high torque due to heavy gear reductions inside them.
Due to their affordability, reliability, and simplicity of control by microprocessors, RC servos
are often used in small-scale robotics applications. (Refer appendix B.3)
9.1.2 CONTROLLING A SERVO MOTOR





Figure 9.3 Timing characteristics of a servo control PWM signal
The servo is controlled by three wires: ground, power and control. The servo will move based
on the pulses sent over the control wire, which set the angle of the actuator arm. The servo
expects a pulse every 20 ms in order to gain correct information about the angle. The width of
the servo pulse dictates the range of the servo's angular motion.
50
A servo pulse of 1.5 ms width will set the servo to its "neutral" position, or 90. For example
a servo pulse of 1.25 ms could set the servo to 0 and a pulse of 1.75 ms could set the servo
to 180. The physical limits and timings of the servo hardware varies between brands and
models, but a general servo's angular motion will travel somewhere in the range of 180 -
210 and the neutral position is almost always at 1.5ms.
9.2 MANIPULATOR DESIGN AND CONSTRUCTION
The manipulator is designed in such a way that it resembles a human wrist and also to
perform a simple pick-and-place operation. The manipulator has two joints. It is constructed
using plywood and the links are driven by 2 servo motors. One servomotor to move the wrist
left and right and another servo motor to make the gripper, open and close.
The CAD drawings of the manipulator are shown below.








Figure 9.4 Manipulator Base - Front and Side View









Figure 9.5 Manipulator gripper - front and side view
51
This manipulator can demonstrate a small pick-and-place operation.

Figure 9.6 Manipulator-complete view
9.3 MANIPULATOR CONTROL
The servo motors in the manipulator require Pulse Width Modulated (PWM) signals to
accurately position the motor shaft. This is achieved by using a PIC16F877A microcontroller.
The PIC16F877A controller falls under the mid-range series in the PIC family of
microcontrollers. These controllers are manufactured and distributed by Microchip
Technology Inc, USA (Refer appendix B.4).
9.3.1 PIC16F877A PERIPHERALS USED
Two Capture, Compare, PWM modules - PWM maximum resolution is 10-bit
Universal Synchronous Asynchronous Receiver Transmitter (USART/SCI)
The PIC16F877A controller has two independent hardware PWM generators which can be
independently initialized and be used to control the two servo motors in the manipulator.
52
Pins 16 and 17 (CCP1 and CCP2) are the two pins that can provide PWM signals to the servo
motors.
The program to control the initialize and control the servo motors are written in C language
using mikroC, mikroElektronika C compiler for Microchip PIC microcontrollers (Version:
8.2.0.0 Demo).
9.4 BASIC CONTROL STRATEGY





Figure 9.7 Control Strategy for controlling the manipulator
Fig 9.7 shows the block diagram for controlling the manipulator by the human operator using
wrist movements. The Human Computer Interface section contains the EMG system and the
computer which performs gesture recognition and classifies them. The computer then sends
data to the PIC Microcontroller corresponding to the gesture classified. The PIC then decodes
the data containing information about the gesture classified and sends the corresponding
PWM position signals to each of the servo motors which in turn position the manipulator in
the required position.
9.4.1 USART INTERFACE
The Universal Synchronous Asynchronous Receiver Transmitter (USART) module is
configured to work in asynchronous mode. The computer transmits the data serially at a baud
rate of 9600 with no parity and no flow control. The PIC microcontroller, which is also
configured to run at 9600Bd, receives the data from the computer and controls the servo.
53
The schematic of the PIC16F877A controller, connected to control the servo motors, is
shown below.












Figure 9.8 Circuit Diagram of PIC16F877A based Manipulator Controller
The schematics and layout is designed using EAGLE 5.7.0 software.








Figure 9.9 Layout Top Figure 9.10 Layout Bottom
54
The PIC is clocked using a 4 MHz crystal oscillator. Since laptop computers do not come
with a serial port connector, a USB-to-Serial converter is used to communicate with the PIC
microcontroller. To convert the RS-232 signals into TTL signals, a MAX232 based level
shifter is employed.



Figure 9.11 A Typical USB-to-Serial Converter
The MAX232 converts the RS232 +/- 12 volt signals to proper TTL 0 to 5 volt signals. The
MAX232 chip is manufactured by Maxim Semiconductors.

Figure 9.12 MAX232 Pin Diagram Figure 9.13 MAX232 circuit implementation
Fig 9.13 shows the MAX232 circuit implementation. The capacitors in the circuit acts as
charge pumps to step-up the voltage form 5 volts to 12 volts.
9.4.2 PIC16F877A- SERVO CONTROL ALGORITHM
(The code for the servo control is attached in the appendix)
Step 1: Initialize the USART module for 9600Bd
Step2: Initialize the PWM module for 250Hz
Step3: Start both the PWM modules
Step4: If data from the UART buffer is A, set the wrist servo to position UP1
55
Else goto step5
Step5: If data from the UART buffer is B, set the wrist servo to position UP2
Else goto step6
Step6: If data from the UART buffer is C, set the wrist servo to position UP3
Else goto step7
Step7: If data from the UART buffer is D, set the wrist servo to position DOWN
Else goto step8
Step8: If data from the UART buffer is O, set the Gripper servo to position OPEN
Else goto step9
Step9: If data from the UART buffer is G, set the Gripper servo to position GRAB
Else goto step10
Step10: If data from the UART buffer is N, set both servos to NO MOVEMENT
Else goto step4
Step11: END
The system is designed in such a way that a single GRAB movement can perform GRAB
movement as well as OPEN movement in the manipulator. When a single GRAB movement
is made, the system identifies it and the manipulator performs a GRAB operation. When a
GRAB gesture is done again, the system identifies that the manipulator is already grabbing
something and hence it performs an OPEN/DROP operation.
9.5 MANIPULATOR CONTROL USING HAND GESTURES - RESULTS


[a]
56

[b]


[c]


[d]

57

[e]

[f]

[g]
Figure 9.14 Gesture performed by the user and the corresponding manipulator movement for
[a] No movement, [b] Up1 movement, [c] Up2 movement, [d] Up3 movement, [e] Down movement,
[f] Grab movement


58

















CHAPTER 10
CONCLUSION
59
A small, cost effective and size optimized gesture recognition system, which can be easily
worn and carried by the user, has been built. The system is capable of acquiring 2 channels of
EMG signals from the body, with minimum noise levels, pre-process them and classify the
hand gestures made.

The use of non-invasive electrodes has proved to be a very convenient technique for portable
Human Computer Interface applications. These cheap non-invasive electrodes can be used
two or three times and then replaced with a new one.

Three classifiers have been implemented and out of the results of the three classifiers, best
two is taken as the final class. This form of classifier fusion results in an increased accuracy.

CLASSIFIER
CLASSIFICATION ACCURACY
Up1 Up2 Up3 Down Grab
SVM 94% 94% 98% 96% 96%
ANN 92% 92% 92% 90% 92%
KNN 96% 96% 96% 96% 96%

This table gives the results obtained after repeated measurements.
The capability of this gesture recognition system has been demonstrated by controlling an
articulated robotic arm with two DOF. The manipulator is directly controlled by the gestures
made by the user. This manipulator can be used in many application such as pick and place
operations, manipulation of objects in hazardous environment etc.






60
















CHAPTER 11
FUTURE SCOPE
61
The use of bio-signals is of very high significance in human computer interaction or human
machine interaction. EMG itself has a wide range of possible applications. The possible
projects that can be extended from our project are given below:
Control of prosthetic arm Prosthetic arm can be controlled by classifying the EMG signals
generated by the muscles of an amputee.
Hand-written character recognition Hand-written characters can be recognized using EMG
signals obtained from the forearm of the writer.
Control of robotic manipulator EMG signals can be used to control robotic manipulators for
medical and industrial applications instead of joystick.



















62
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[22] Saksit Siriprayoonsak (2005), Real-Time Measurement of Prehensile EMG Signals,San
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[24] C Raja Rao, S.K. Guha, Principals of Medical Electronics and Biomedical
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[25] Sebastian Bitzer, Patrick van der Smagt, "Learning EMG control of a prosthetic hand:
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%20in%20Matlab%20V2.doc
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Feasibility of Using Forearm Electromyography for Muscle-Computer Interfaces, CHI
2008 Proceedings , Physiological Sensing for Input April 5-10, 2008 , Florence, Italy.
[37] Jonghwa Kim, Stephan Mastnik, Elisabeth Andr, EMG-based Hand Gesture
Recognition for Real-time Biosignal Interfacing, Association for Computing Machinery,
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2003.
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Robotics and Automation, Orlando, Florida - May 2006.
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Delsys Inc, ISBN: 978-0-9798644-0-7, 05/10/08.
[41] Kaveh Momen, Sridhar Krishnan, Real-Time Classification of Forearm
Electromyographic Signals Corresponding to User-Selected Intentional Movements
[42] For Multifunction Prosthesis Control, IEEE Transactions on Neural Systems and
Rehabilitation Engineering, Vol. 15, No. 4, December 2007.
[43] Carlo J. De Luca, Surface Electromyography: Detection and recovery,
www.delsys.com.
[44] Y Su1, A Wolczowski, M .H. Fisher, G .D .Bell, D Burn, R Gao, Towards an EMG
Controlled Prosthetic Hand Using a 3D Electromagnetic Positioning System, IMTC
2005 Instrumentation and Measurement Technology Conference Ottawa, Canada, 17-19
May 2005.
[45] Darrin. Young, Bradley D. Farnsworth, Ronald 1. Triol02, Wireless Implantable EMG
Sensor for Powered Prosthesis Control, IEEE-978-1-4244-2186-2/08, 2008
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[46] M. B. I. Reaz, M. S. Hussain, F. Mohd-Yasin, Techniques of EMG signal analysis:
Detection, Processing, Classification and Applications, Biol. Proceed. Online 2006; 8(1):
11-35. Doi: 10.1251/bpo115, March 23, 2006.
[47] Andrew W. Moore, K-means and Hierarchical clustering, School of Computer Science
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for Human Computer Interaction: A Review, European Journal of Scientific Research
ISSN 1450-216X Vol.33 No.3 (2009), pp.480-501.
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Applications, Pearson Education, 2009.
[50] John.C.Platt, Sequential Minimal Optimization: A Fast Algorithm for Training Support
Vector Machines, Technical Report MSR-TR-98-14, April 21, 1998.
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Cambridge University Press, 2000.
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66
APPENDIX A
1. MATLAB CODE FOR GRAPHICAL USER INTERFACE

function varargout = GUI(varargin)
% GUI M-file for GUI.fig
% Begin initialization code
gui_Singleton = 1;
gui_State = struct('gui_Name', mfilename, ...
'gui_Singleton', gui_Singleton, ...
'gui_OpeningFcn', @GUI_OpeningFcn, ...
'gui_OutputFcn', @GUI_OutputFcn, ...
'gui_LayoutFcn', [] , ...
'gui_Callback', []);
if nargin && ischar(varargin{1})
gui_State.gui_Callback = str2func(varargin{1});
end
if nargout
[varargout{1:nargout}] = gui_mainfcn(gui_State, varargin{:});
else
gui_mainfcn(gui_State, varargin{:});
end
% End initialization code
% --- Executes just before GUI is made visible.
function GUI_OpeningFcn(hObject, eventdata, handles, varargin)
% Choose default command line output for GUI
handles.output = hObject;
% Update handles structure
guidata(hObject, handles);
% UIWAIT makes GUI wait for user response (see UIRESUME)
% uiwait(handles.figure1);
% --- Outputs from this function are returned to the command line.
function varargout = GUI_OutputFcn(hObject, eventdata, handles)
% Get default command line output from handles structure
varargout{1} = handles.output;

% --- Executes on button press in start.
function start_Callback(hObject, eventdata, handles)
[y,k]=justclassifier();
if y==0
msgbox('NO MOVEMENT');
67
end
if y==1
msgbox('UP 1 MOVEMENT');
end
if y==2
msgbox('UP 2 MOVEMENT');
end
if y==3
msgbox('UP 3 MOVEMENT');
end
if and(y==4,k==0)
msgbox('GRAB MOVEMENT');
end
if y==5
msgbox('DOWN MOVEMENT');
end
if and(y==4,k==1)
msgbox('OPEN MOVEMENT');
end
sendata(y,k);
% --- Executes on button press in stop.
function stop_Callback(hobject, eventdata, handles)
exit();

% --- Executes on button press in pause.
function pause_Callback(hObject, eventdata, handles)
pause(10)

% --- Executes on button press in setup.
function setup_Callback(hObject, eventdata, handles)
startup();

2. MATLAB CODE FOR CLASSIFIER SETUP
function startup()
[down,up3,up1,up2,grab]=justdaq();
[dustruct,u12struct,uu1struct,u2ustruct,ugstruct,dgstruct]=juststructure(do
wn,up3,up1,up2,grab);
net1=nntrain1();
msgbox('SETUP COMPLETE');
justclassifier();
68
3. MATLAB CODE FOR READING THE DATA FROM THE
DATABASE
function [down,up3,up1,up2,grab]=justdaq()
up3=xlsread('D:\MATLAB\R2009a\work\Sound Card\Database\rmsdF.xls','UP3');
down=xlsread('D:\MATLAB\R2009a\work\Sound Card\Database\rmsdF.xls','DOWN');
up1=xlsread('D:\MATLAB\R2009a\work\Sound Card\Database\rmsdF.xls','UP1');
up2=xlsread('D:\MATLAB\R2009a\work\Sound Card\Database\rmsdF.xls','UP2');
grab=xlsread('D:\MATLAB\R2009a\work\Sound Card\Database\rmsdF.xls','GRAB');

4. MATLAB CODE FOR SVM TRAINING
function [dustruct,u12struct,uu1struct,u2ustruct,ugstruct,dgstruct] =
juststructure(down,up3,up1,up2,grab)
g=[-1*ones(1,length(down)) 1*ones(1,length(down))];
dustruct=svmtrain([down up3],g','showplot',true);
figure
u12struct=svmtrain([up1 up2],g','showplot',true);
figure
uu1struct=svmtrain([up3 up1],g','showplot',true);
figure
u2ustruct=svmtrain([up2 up3],g','showplot',true);
figure
ugstruct=svmtrain([up3 grab],g','showplot',true);
figure
dgstruct=svmtrain([down grab],g','showplot',true);

5. MATLAB CODE FOR NEURAL NETWORK TRAINING
function net=nntrain1()
P=xlsread('D:\MATLAB\R2009a\work\Sound Card\Database\neuralnetwork.xls');
T=xlsread('D:\MATLAB\R2009a\work\Sound Card\Database\target.xls');
eg=0;
sc=.00009;
net=newrb(P,T,eg,sc);

6. MATLAB CODE FOR SVM CLASSIFICATION
Function ysvm=justclassify(dustruct,u12struct,uu1struct,u2ustruct,
ugstruct,dgstruct,sample)
dug=svmclassify(dustruct,sample,'showplot',false);
u12g=svmclassify(u12struct,sample,'showplot',false);
uu1g=svmclassify(uu1struct,sample,'showplot',false);
69
u2ug=svmclassify(u2ustruct,sample,'showplot',false);
ugg=svmclassify(ugstruct,sample,'showplot',false);
dgg=svmclassify(dgstruct,sample,'showplot',false);

if (sample(1)<sample(2) & dug==-1 & dgg==-1)
display('SVM : DOWN MOVEMENT')
ysvm=5;
elseif (u12g==1 & u2ug==-1& sample(1)>sample(2))
display('SVM : UP 2 MOVEMENT')
ysvm=2;
elseif (u2ug==1 & uu1g==-1& sample(1)>sample(2) & ugg==-1)
display('SVM : UP 3 MOVEMENT')
ysvm=3;
elseif(u12g==-1 & uu1g==1& sample(1)>sample(2))
display('SVM : UP 1 MOVEMENT')
ysvm=1;
elseif(ugg==1 & dgg==1)
display('SVM : GRAB MOVEMENT')
ysvm=4;
end

7. MATLAB CODE FOR KNN CLASSIFICATION
function yknn=knncls(Sample,up1,up2,up3,down,grab)
for i=1:13
distup1(i)=Eucldist(Sample,up1(:,i));
distup2(i)=Eucldist(Sample,up2(:,i));
distup3(i)=Eucldist(Sample,up3(:,i));
distdown(i)=Eucldist(Sample,down(:,i));
distgrab(i)=Eucldist(Sample,grab(:,i));
end
up1dist=sort(distup1);
up2dist=sort(distup2);
up3dist=sort(distup3);
downdist=sort(distdown);
grabdist=sort(distgrab);

for i=1:3
dup1=sum(up1dist(i));
dup2=sum(up2dist(i));
dup3=sum(up3dist(i));
ddown=sum(downdist(i));
70
dgrab=sum(grabdist(i));
end
d=min(min(min(dup1,dup2),min(dup3,ddown)),dgrab);
if (d==dup1)
display('KNN : UP 1 MOVEMENT');
yknn=1;
else if (d==dup2)
display('KNN : UP 2 MOVEMENT');
yknn=2;
else if (d==dup3)
display('KNN : UP 3 MOVEMENT');
yknn=3;
else if (d==ddown)
display('KNN : DOWN MOVEMENT');
yknn=5;
elseif (d==dgrab)
display('KNN : GRAB MOVEMENT');
yknn=4;
else
display('KNN : NO MOVEMENT');
end
end
end
end

8. MATLAB CODE FOR NEURAL NETWORK CLASSIFICATION
function ynn=nnout1(net,sample)
z=sim(net,sample);
[c,i]=max(z);
if(i==1)
display('ANN : UP 3 MOVEMENT')
ynn=3;
end
if(i==2)
display('ANN : UP 2 MOVEMENT')
ynn=2;
end
if(i==3)
display('ANN : UP 1 MOVEMENT')
ynn=1;
end
71
if(i==4)
display('ANN : DOWN MOVEMENT')
ynn=5;
end
if(i==5)
display('ANN : GRAB MOVEMENT')
ynn=4;
end


9. MATLAB CODE FOR CLASSIFICATION
function [y,k]=justclassifier()
k=1;
while(1)
[x1,x2,nom1,nom2]=emgtestlatest();

if and(max(x1)<=nom1,max(x2)<=nom2)
display('NO MOVEMENT')
y=0;
end
if or(max(x1)>nom1,max(x2)>nom2)
f1=(norm(x1)/sqrt(length(x1)));
f2=(norm(x2)/sqrt(length(x1)));
sample=[f1 f2];
tic

ysvm=justclassify(dustruct,u12struct,uu1struct,u2ustruct,ugstruct,dgstruct,
sample);
toc
tic
yknn=knncls(sample,up1,up2,up3,down,grab);
toc
tic
ynn1=nnout1(net1,sample');
toc

if (ysvm==yknn || ysvm==ynn1)
y=ysvm;
end
if (yknn==ynn || yknn==ynn1)
y=yknn;
72
end
end
if y==4
k=not(k);
end
pause(2);
end


10. MATLAB CODE FOR SENDING DATA TO MANIPULATOR
function sendata(y,k,s)
global s;
fopen(s);
if y==0
fwrite(s,'N','char');
end
if y==1
fwrite(s,'A','char');
end
if y==2
fwrite(s,'B','char');
end
if y==3
fwrite(s,'C','char');
end
if and(y==4,k==0)
fwrite(s,'G','char');
end
if y==5
fwrite(s,'D','char');
end
if and(y==4,k==1)
fwrite(s,'O','char');
end
if y==0
msgbox('NO MOVEMENT');
end
if y==1
msgbox('UP 1 MOVEMENT');
end
if y==2
73
msgbox('UP 2 MOVEMENT');
end
if y==3
msgbox('UP 3 MOVEMENT');
end
if and(y==4,k==0)
msgbox('GRAB MOVEMENT');
end
if y==5
msgbox('DOWN MOVEMENT');
end
if and(y==4,k==1)
msgbox('OPEN MOVEMENT');
end
fclose(s);

11. MIKRO C CODE FOR THE MANIPULATOR MOVEMENT
unsigned short arm_pos=0;
unsigned short pulse_width_1=95;
unsigned short pulse_width_2=40;
void main ()
{
Usart_Init(9600);
Pwm1_Init(250);
Pwm2_Init(250);
Pwm1_Start();
Pwm2_Start();
while(1)
{
if (Usart_data_ready()==1)
{
arm_pos=Usart_read();
}

if (arm_pos=='A')
{
pulse_width_1=75;
}
else if (arm_pos=='B')
{
pulse_width_1=60;
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}
else if (arm_pos=='C')
{
pulse_width_1=40;
}
else if (arm_pos=='D')
{
pulse_width_1=120;
}
else if (arm_pos=='O')
{
pulse_width_2=40;
}
else if (arm_pos=='N')
{
pulse_width_1=95;
}
else if (arm_pos=='G')
{
pulse_width_2=80;
}

Pwm1_Change_Duty(pulse_width_1);
Pwm2_Change_Duty(pulse_width_2);
}
}










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APPENDIX B
B.1 AD620







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B.2 UAF42

B.3 SERVO MOTOR- HS311




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B.4 PIC16F877