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Electromyography (EMG) Data-Driven Load Classification using Empirical

Mode Decomposition and Feature Analysis

Conference Paper · December 2019

DOI: 10.1109/FIT47737.2019.00058

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 Electromyography (EMG) Data-driven Load
Classification using Empirical Mode Decomposition
and Feature Analysis
Sumair Aziz1*, Muhammad Umar Khan2, Foha Aamir3, Muhammad Arshad Javid4
1,2Departmentof Electronics Engineering, University of Engineering and Technology, Taxila, Pakistan
3Biomedical Engineering Technology, University of Engineering and Technology, Taxila, Pakistan
4Department of Basic Sciences, University of Engineering and Technology, Taxila, Pakistan
Email: 1*sumair.aziz@uettaxila.edu.pk, sa.umarkhan@gmail.com, fohaaamir1997@gmail.com, arshad.javid@uettaxila.edu.pk
Abstract—This study presents a novel methodology
towards load classification through surface-
Electromyography (sEMG). Two subjects performed weight
lifting tasks for 1kg, 3kg and 7kg weights. 50 samples were
collected from each subject. sEMG signals were denoised
through Empirical Mode Decomposition (EMD). Region of
interest extraction for improving classification performance is
also achieved through EMD by removing redundant
information from preprocessed signal. Feature extraction is
performed through extensive analysis of different
combinations of statistical, time domain, frequency domain
and Mel frequency cepstral coefficient (MFCC) features. Best
feature set is constructed based on highest classification
accuracy. Selected features were validated using 10-fold cross
validation over range of different classifiers such as Support
Vector Machine (SVM), Decision Tree (DT), Quadratic
Discriminant Analysis (QDA), Naïve Bayes (NB), and K-
nearest neighbor. SVM with cubic kernel yields best
classification accuracy of 99% for three class problem.
Keywords—surface EMG, load classification, weight
classification, SVM, Empirical mode decomposition
I. INTRODUCTION
The non-invasive method of getting Myoelectric signals
(MES) is by placing electrodes on the surface of skin. This
is called as surface electromyography (sEMG), which is
safe, easy to use, painless and can easily assess neural
activity of muscles, tendons and other tissues. By this
method the information gathered about neural activity is
adequate to design prosthetic systems [1]. The sEMG is
used for research in different fields like ergonomics, gait
mechanics, rehabilitation, neural physiology and sport
science.
Load bearing function is assigned in this work. In load
bearing function flexion and extension of muscles take
place, flexor compartment of muscles includes biceps,
pronator teres and brachioradialis, whereas extensor
compartment includes triceps and extensor muscles of
forearm. The innervation of these muscles is as: Biceps by
musculocutaneous nerve, brachioradialis by the radial
nerve, which furthermore innervates the forearm extensors
and triceps. In load bearing function the muscle fibers
shorten during concentric contractions like in biceps while
lifting the load to the angle of elbow joint less than 180º.
Similarly, the muscle length under load bearing increases
during eccentric contractions [2]
A. Concentric Contractions
Contractions allowing shortening of the muscle are called
concentrated contractions. More specifically, when the
pressure prevails the same while the length becomes shorter
and the energy alters, concentrated contractions occur. In
specific, when a muscle is stimulated and wanted to raise a
load, which is a lesser amount of the maximum tetanic
pressure it can yield, the muscle starts to shorten. This can
be seen in a bicep curl by increasing a weight. A connection
between force and speed can be determined by carrying out
a sequence of steady speed shortening contractions[3].
B. Eccentric Contractions
Unlike concentrated contractions, the duration of eccentric
contractions is stretched out, making the muscles to extend
in response to a higher force of opposition. As the muscle
load rises, it lastly reaches a point where the muscle's
internal force is higher than the muscle-generating force.
Thus, although the muscle may be completely activated,
due to the elevated external load it is compelled to lengthen
[3].
Different computational algorithms are used nowadays
for signal processing of MES. There are different reports
linked to MES classification, signal processing is separated
into phases: data reduction, feature extraction and pattern
recognition. Feature extraction is a technique which is used
to represent data in reduced form called as feature vector,
this is done in time domain, frequency domain, time-
frequency domain or spectral domain. MES classification
is completed by means of applications like artificial
intelligence techniques together with artificial neural
networks, genetic algorithms and fuzzy logic or by
statistical classifiers. Nowadays, Supports Vector Machine
(SVM) is used with improved performance in classification
task by pattern recognition. [4]
In [5], authors presented pattern recognition
methodology for load lifting at different weights with EMG
using Artificial Neural Networks (ANN). The signal was
taken from Biceps Muscles and was preprocessed with
Butterworth low pass filter with cutoff frequency 10Hz.
Time Domain features were extracted including Root Mean
 Figure 1: Block diagram of proposed EMG based load classification system

Square (RMS), Mean Absolute Value (MAV), Standard

Deviation (STD) and Variance (VAR). The results were
33% correctly assigned with 60% training on 10 number of
hidden neurons and with 60% training on 20 numbers of
hidden neurons 66.7% were correctly assigned.
In [6] classification of load on back muscles EMG
during dynamic lifting tasks was proposed. The main
objective of that research was to improve utility of back
supporting devices. Signals were taken at three different
weights and were processed through bandpass filter (20 to
300Hz) and band stop filter (59 to 61 Hz). Time domain
features extracted were Mean, Standard Deviation (SD),
Difference (diff), Maximum (max), Minimum (min),
Amplitude (amp) and Root mean square (RMS).
Multinomial Logistic Regression (MLR) was used as
classifier with accuracy 80% (±10%) to 81% (±7%).
In [7] armband with 8 sEMG sensors was used to record
electrical activity of Biceps muscles. Collectively with
electrical activity of muscles and torques produced at
shoulder and elbow joints classification of weight lifted
was done. Notch filters of 50 and 60Hz were used for
preprocessing. Both the techniques that were presented
highlighted the possibility of developing an exerted force
classification which can identify whether the lifted weight
is light or heavy.
In this paper, load classification methodology based on
sEMG signal analysis is presented. Classification of three
classes with 1kg, 3kg and 7kg weights is targeted. Signal
acquired from EMG electrodes is first preprocessed
through empirical mode decomposition (EMD). Next,
feature extraction is performed to reduce data
dimensionally and represent EMG signals of different
classes with few parameters. Finally Support vector
machines (SVM) classifier is trained and tested via 10-fold
cross validation scheme. Rest of this article is organized as
follows: In section II “methods and materials”, dataset
acquisition setup and protocols along with proposed EMG
signal classification scheme is discussed. Section III
“results and discussion” explains experimental setup and
achieved results. Section IV “conclusion” concludes paper.
II. MATERIALS AND METHODS
The proposed pattern recognition scheme for loads
classification based on EMG signal analysis is shown in
Figure 1. Three primary cascaded models, composed of
pre-processing, feature extraction and classification are
comprehensively analyzed. Feature extraction is the
primary kernel used to analyze EMG signals in order to
achieve high classification accuracy.
A. Data Acquisition
Two participants with right arm as dominant arm were
selected. Subject 1 (Male; Age: 20; body mass: 90kg ±2kg)
and subject 2 (Female; Age: 22; Body mass: 40kg). The
subjects presented no pathology of the shoulders, knees and
wrists at the moment of the research and were free of
neuromuscular diseases. There were 3 key tasks that were
divided into three loads 1kg, 5kg and 7kg. System used for
data acquisition was BIOPAC. BIOPAC provides a range of
choices for recording and analysing EMG (sEMG) surface.
sEMG information can be registered with EMG electrodes
that are sent to a wired, wireless or MRI-specific EMG
amplifier. Hardware solutions range from single-channel
wireless, telemetry and logged information to 32-channel
EMG tethered. Check links between equipment for the
highest sEMG signal quality and use an EL-CHECK
impedance monitor to assess contact impedance between
the subject's EMG surface electrodes. The EL-CHECK
allows up to three electrode leads to be attached
simultaneously for fast impedance checking in the three
linked sEMG leads between any two electrodes: Active
(Vin+), Reference (Vin-), and Ground (GND).
First of all, to decrease skin resistivity, skin preparation
is required. Skin conductivity and skin cleaning are the two
distinct components in the preparing of the skin. Skin
cleaning will involve hair cleaning, dust, shaving, and
alcohol swab implementation.
The electrodes are used to perceive or sense the presence
of EMG signal at muscle. One electrode with Vin- lead was
Figure 2: Unprocessed EMG Signal in Time Domain
placed at insertion of Biceps Brachii muscle which is the
most appropriate muscle to characterise the flexion signal.
Electrode with lead Vin+ was placed at insertion of
 higher than those obtained when lifting the hand with a load
of 1 kg.

1) Emperical Mode Decomposition (EMD)

Non-linear and varying signals can be deal efficiently
with EMD technique. It can also be used for denoising and
extracting region of interest from electrophysiological
signal. This is done by a process called as sifting. EMD
breaks down EMG signals into AM-FM parts of some
narrowband. The inherent physical characteristics of
decomposed parts are identified as Intrinsic mode function
(IMF) [9]. Overlapping of IMF signals is called as mode
mixing. Extraction of IMFs is based on two conditions:
• In the entire data set, the quantity of zero crossing and
quantity of extrema should be equal or differ by unity
magnitude.
• At any instant the average value of highest and least
Figure 3: Unprocessed EMG Signal in Frequency
point in envelope must be equal to zero.[9]
Domain
Brachioradialis and ground was placed at insertion point of
flexor compartment muscles.
Fifty number of samples were taken from each subject
performing each task (i.e. 1kg, 3kg and 7kg). Each sample
consisted of 30 seconds recordings with flexion of arm and
bringing it to normal position two times in one sample.
B. Preprocessing
Noise free EMG signal is essential requirement for its
proper interpretation and categorization. EMG can include
three types of noises, power line interphase (PLI), white
gaussian noise (WGN) and motion artifact [8]Obtained raw
EMG signal is shown in time domain and frequency
domain in Figure 2 and Figure 3. In addition, Figure 2
shows the connection between altering in force during
muscle contraction and increasing load. As the load rises,
the amplitudes of the EMG signals rise. The amplitudes of
the EMG signals for the load of 7 kg as shown in Figure 2
are higher than for 3 kg, whereas the amplitudes of the
EMG signals for the load of 3 kg as shown in Figure are
Figure 5: IMFs extraction from load of 3 kg

Figure 6: IMFs extraction from load of 7kg

Figure 4: IMFs extraction from load of 1kg

IMFs extracted from sample signal of each load are
illustrated in Figure 4, 5 and 6. Total 10 IMFs were extracted
from all load signals. IMF 9 and 10 did not contain useful
content which can help distinguish different load classes, so
they were excluded while constructing resultant
preprocessed signal. As it can be observed from the
waveform of Figure 4,5 and 6 that IMF greater than 4 are
usually artifacts.
From experimental analysis IMFs greater than 4 were
excluded as noise. After that we got preprocessed signal
composed of IMF 1, 2, 3 and 4. Time domain and frequency
domain of signal is shown in figure 7 and 8 which is after
processing. Preprocessed signal is denoised and it contains
the region of interest from raw sEMG signal, which is
significant for categorizing different load classes.
Figure 7 illustrates the pre-processing output with 1, 3
and 7 kg load sEMG signal during bicep dynamic
contraction. The processed 3 kg EMG signal can be noted
when the bicep muscle started concentrated contraction and
the EMG amplitude began to increase. Before the bicep
muscle reached the end of the eccentric contraction, the
sEMG amplitude began to increase, denoting that the
amplitude of the EMG signal will be the maximum when
the subject begins to lift its forearm and then lower its
forearm (starting and ending the dynamic contraction).
Same goes for 1kg load lifting and 7 kg load lifting [10].
C. Features Extraction
Feature extraction is a method for transforming raw
input information into a decreased set of features
representation, called feature vectors. An appropriate
feature vector should contain representative data and
discard data that is irrelevant or noise. In this study,
extraction techniques in the time domain and frequency
domain and statistical features domain were analyzed.
Feature extraction and classification was performed for
both raw and pre-processed signal data. Table I and Table
II summarize features extracted for classification. The
variations in features values indicate that the EMG signals
differ depending on the load modifications. When the load
increased, the statistical feature values increased. The EMG
signals' peak amplitude increased as the load has increased.
The findings indicate that the value of the characteristics
varies from one load to another. This can be used to classify
the EMG signal by features characteristics and load weight
[11].

Table I: Feature Extraction of Unprocessed Signal

No. Features Domains Abbreviation
1 Mean Time Mean
Figure 7: Processed EMG Signal in Time Domain
2 Standard Time Std
Deviation
3 Kurtosis Time KR
4 Root Mean Time RMS
Square
5 Peak to Peak Time P2P
6 Shape Factor - SF
7 Energy Statistical E
8 Mean Frequency Frequency MFr
9 Median Frequency MedFre
Frequency
10 Peak to RMS Time PRMS
11 Occupied Frequency OB
Bandwidth

1) Mean
It is evaluated as time function. It is identified as a variable
of the time domain. It signifies the area underneath the
EMG signal when it is corrected, it is demonstrated by the
positive and negative voltage values. By means of a moving
Figure 8: Processed EMG Signal in Frequency window, the absolute mean is computated [5]. Based on the
Domain equation, it is calculated for each information window:
 1 N Peak2peak(X) returns the highest and lowest value
mean =
N
 Xi
i =1
(1) difference in X. By default, peak2peak operates with a size
greater than 1 along the first X array dimension [13].
P2P = max value − min value (6)
2) Standard Deviation (STD)
Square root of variance is termed as STD denoting to the 6) Shape Factor (SP)
sample mean [5]. The information outcomes are often Shape factor is represented as:
given as mean ± STD in eq (2) as:
 1 N 2
 N  xi 
N 2
1
Std =  xi − 
N − 1 i =1
(2)
SF =
 i =1 
(7)
1 N
Where µ is the mean of x:  xi
N i =1
N
1
=
N
x i =1
i (3) 7) Energy
Energy of the signal is shown by:
3) Kurtosis 

Kurtosis is a characteristically higher-order statistical sign E =  x[n]2 (8)

of non-Gaussianity and is used to enumerate the −
distribution of specified form of peak. It is the statistics 8) Mean Frequency (MFr)
cumulant of the fourth order that is given as MFr is a normal or average frequency well-defined as a
1 N  1 N 2
2
 sum of power spectrum of EMG and product of frequency
kur ( x) =   xi4  N  xi   −3 (4) divided by a whole power spectrum amount. Also, MFr is
 N i =1  i =1   mentioned as mean power frequency and mean spectral
frequency in several works. It can be said as
If xi is the ith standardized EMG amplitude and N is the N N
total number of standardized EMG amplitudes or data MFr =  fi Pi P i (9)
vector measurement. Kurtosis can be positive or negative. i =1 i =1
Super-Gaussian is called a dispersal with positive kurtosis, Where f(i) is power spectrum frequency, P(i) is the
while sub-Gaussian is termed as with negative. For frequency bin power spectrum and N is the frequency
standard Gaussian and Laplacian distributions, the exact length. N is generally defined as the next power from the
theoretical kurtosis values are 0 and 3, respectively [12]. measurement of EMG data in the time-domain [14]

Table II: Feature Extraction of Processed signal 9) Median Frequency (MedFre)

No. Features Domains Abbreviation MedFre is a frequency with an equal amplitude of the
1 Root Mean Time RMS power spectrum of EMG divided into two zones. MedFre
Square is also designated as half of total power or TTP (dividing
2 Peak to Peak Time P2P the whole energy section into two equal sectors) [14]. It is
3 Shape Factor - SF shown in eq (10) as mathematically form:
MedFre M
1 M
   Pj
4 Mean Frequency Frequency MFr
5 Median Frequency MedFre
Pj = Pj = (10)
j =1 j = MedFre 2 j =1
Frequency
6 Root Sum of Statistical RSSQL
Square Level 10) Root Sum of Square Level (RSSQL)
7 Mel Frequency - MFCC1 RSSQ(X) returns the input amount of the root-sum-of-
Cepstral squares (RSS), Y, X.Y acts as real scaler if X is the vector
Coefficient of column or row. Y comprises the meditations of RSS
8 Mel Frequency - MFCC3 calculated sideways with the first nonsingleton dimension
Cepstral for matrices [13].
Coefficient N
RSSQL = X
2
i (11)
i =1

4) Root Mean Square (RMS)

The RMS is the square root of the EMG signal's average or 11) Peak to Root Mean Square
normal energy over a definite time period. It is known as a Peak2rms is the ratio of absolute value of X which is taken
time domain variable because of the amplitude of the signal as largest value of X to the RMS of X. By default, peak2rms
as a function of time. functions end to end with first range of X greater than 1.
1 N X 
RMS =
N
X i
2
(5) PRMS =
1 N 2
(12)

X
i =1
5) Peak2peak i
N i =1
 Table III: Accuracy from different combinations of features on Cubic SVM
Kr RMS P2P SF MFr MedFre PRMS RSSQL MFCC1 MFCC3 Accuracy

       95.7%
       97.3%
      98.7%
          98.3%
        99%

assumed that all are linearly separable. We train C32 = 3

12) Occupied Bandwidth
Obw uses rectangular window to calculate a periodogram
power spectral density approximation. The occupied range
is the distinction between the points where the power
reaches 0.5% and 99.5% of the complete spectrum power.
OB = f 2 − f1 (13)
where f1 is the lower cutoff frequency while f2 is upper
cutoff frequency
13) Mel-Frequency Cepstral Coefficient
The EMG signal characteristics will be provided with the
Mel-Frequency Cepstral Coefficient (MFCC) [15]. While
MFCC is a well-known instrument for voice recognition
feature extraction, it was also used for other signal types
such as electroencephalography, electrocardiography and
electromyography. The name MFCC comes from using the
triangular filter bank of Mel scale. MFCC's Fast Fourier
Transform (FFT) is the first move on the signal. Triangular
filters can be produced with knowledge of the cut-off
frequencies. These filters can be applied to the X(k)
frequency range and the outcome of this procedure can be
expressed as XH, which is the spectrum of Mel frequency.
Lastly, the MFCC coefficients are derived from the discrete
cosine transformation of the XH Mel power log. The
MFCC coefficient expression is shown in Equation.
2 N
  (i − 0.5)q 
c(q ) =
N
 log( X
i =1
H (i )) cos 
 N
 (14)

The coefficient index number is provided by q, and again
N is the Mel filter number. These MFCC coefficients will
be used as the EMG signal characteristics [16].
binary classifiers and final result is computed based on
voting.
SVM employs kernel trick for separating data that is
linearly inseparable. Kernel function like Quadratic, Cubic
and Gaussian are used to transform low-dimension data to
higher dimensional feature space where separation become
possible. In this study SVM with Cubic kernel is employed
for experimentation such as Cubic-SVM (C-SVM). Other
classification methods used for analysis are Decision Tree
(DT), Quadratic Discriminant Analysis (QDA), Naïve
Bayes (NB), KNN with K=5 (medium-KNN) and KNN
with cubic distance matric (cubic-KNN).
III. RESULTS AND DISCUSSIONS
This paper presents a new technique for sEMG based load
classification using combination of EMD and feature
analysis. Training and testing of classifiers is performed
through 10-fold cross validation. 10-fold cross validation is
widely adopted validation method for classification
problems having smaller dataset. In this technique feature
dataset is divided into 10 subsets. One subset is used for
testing while remaining are used for training the classifier.
Total 10 iterations are performed and results are averaged
over all iterations.
To select the best representing features extracted from
preprocessed sEMG signal for different load classes,
comprehensive analysis is performed and results of
selected feature combinations are presented in table III.
Combination of RMS, Peak to peak, shape factor, mean
frequency, Root Sum of Square Level, and first two

D. Classification
Classification is the final phase of processing EMG
signals to distinguish between different load classes using
extracted features. EMG signal pattern is prepared for
recognition after feature selection. EMG signal is analyzed
with different types of classifiers, but best results were
achieved through Support Vector Machine (SVM). SVM is
widely used classification method in signal analysis and
classification of EMG studies [17-20] SVM is basically a
binary learning machine with some very elegant features.
SVM relies on tiny subset of data points called support
vectors which are computed from the training samples by
the learning algorithm. These support vector helps forming
hyperplane which separates binary classes. Multiclass
classification problem is address by SVM through
combining multiple classifiers. For instance, this study
contains three load classes of EMG signal data and it is
Figure 9: Scatter Plots of Features Extracted

120%
99.00% 95.00% 95.00%
100% 92.70% 95.70%
80%
75.70%
60%
40%
20%
0%
Figure 10: Performance evaluation with different
classifiers
coefficients of MFCC features yields 99% accuracy with
cubic-SVM classification method. Detailed results of other
combinations are presented in table III. Figure 9 shows the
scatter plot between Root Sum of Square Level and first
coefficient of MFCC. Clear interclass difference can be
observed from features distribution. This validates good
discriminating properties carried by extracted features
which results in high classification accuracy.
To further validate the authenticity of selected feature
combination, experiments were expanded by inclusion of
different classification methods such as DT, QDA, NB,
medium-KNN and cubic-KNN. Figure 10 shows graphical
comparison of performance of selected feature set for a
range of classifiers. It can be observed that four out of five
methods result in classification accuracy well above 90%,
however NB classifier yields 75.70% classification
accuracy. Best accuracy (99%) is achieved with cubic-
SVM classifier for the given dataset. Figure 11 presents
class-wise accuracy in the form of confusion matrix. Load
class belong to 7 kg weight has accuracy of 100% this is
because of the fact that features extracted from sEMG
Figure 11: Confusion Matrix with selected features
signal for this class are laying at clear distance from
features of other two classes. This leads to excellent
classification performance.
IV. CONCLUSIONS
In this paper, we proposed a novel methodology for load
classification through sEMG signals. Proposed
methodology adopts EMD based preprocessing and region
of interest extraction scheme, followed by detailed feature
analysis. Selected feature set is fed to cubic-SVM for
differentiating different load classes. Proposed
methodology in this study achieves 99% classification
accuracy for three load classes i.e. 1kg, 3kg and 7kg.
Findings of this research confirms the validity of sEMG
signal analysis towards load estimation applications. Scope
of application can be further validated through collecting
more data samples. Further studies can target, inclusion of
more weight classes in the dataset, this will further improve
the application viability of the proposed methodology.
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