Thesis

Copyright 2005 by Saksit Siriprayoonsak 1
Real-Time Measurement of
Prehensile EMG signals
Master Thesis

Saksit Siriprayoonsak

Supervisor: Marko Vuskovic

Department of Computer Science
San Diego State University
August 24, 2005
Contents
Introduction
EMG Overview
Apparatus for EMG Measurement
Implementation of EMG Capture Program
Experimental Results
Conclusion
Multifunctional Prosthetic Hand Control
A research in Robotics Laboratory, SDSU
Object of Thesis
Main purpose:
Design and develop hardware and software for
measuring surface EMG signals from real
human muscles in real-time.

Immediate application:
To control the existing SDSU multifingered robot
hand.
EMG Overview
EMG Electromyography
Electromyography measures the electrical impulses of muscles at
rest and during contraction.
Amplitudes of EMG signal range between 0 to 10 mV (peak-to-peak)
or 0 to 1.5 mV (rms).
Frequency of EMG signal is between 0 to 500 Hz.
The usable energy of EMG signal is dominant between 50-150 Hz.
Source:
http://www.delsys.com/library/papers/SEMGintro.pdf
Amplification of EMG Signals
Factors to be considered:
Boost signal to TTL standard level ( 5 V.)
Enough gain
Noise/Artifact problem
Filter, stability of electrodes attached to skin, proper
grounding
DC offset or bias problem
Bias adjustment
Power consumption
Consume less current
EMG Measurement Stages
EMG Amplifier: Electrode and Extension
Stereo phone wire with 3 conductors
Positive input to preamplifier
Negative input to preamplifier
Shield as the input of body reference circuit
Velcro strap for securing the electrode to the skin

EMG Amplifier: Electrode and Extension
(cont.)
Plastic piece and snap on for holding electrode elements
Dimension of 1 inch between electrode contacts
4 electrode extensions and 1 body reference extension
Total of 9 electrode contacts
EMG Amplifier: Power Supply
Dual Supply
Positive Power Supply
Negative Power
Supply
Two 9-volt batteries
connected in series
Capacitors provide
stability of electrical
current.

Power Supply Unit Circuit
EMG Amplifier: Preamplifier
Industry standard instrumentation amplifier
op-amp (INA2128)
Accuracy: providing high bandwidth at high
gain and output offset current
Differential amplifier circuit with 2 inputs
High gain to boost the EMG signals
Body Reference Circuit or Feed Back
(OPA2604)

EMG Amplifier: Preamplifier (cont.)
BURR-BROWN INA2128 Application Information
EMG Amplifier: Preamplifier (cont.)
Gain Equation:
50
1
1 2
2
G
G
k
Gain
R
R
where R R
= +
= =
Find R
G
at Gain = 1,000:
1 50
2 2 ( 1)
1 50
2 (1000 1)
25.025
G
R k
Gain
k
O
=
O
=
= O
Find Gain at R
G
= 22 ohm:
50
1 1137.364
2 22
k
Gain = + =
Preamplifier with Body Reference Circuit (1 channel)

EMG Amplifier: Averaging Body Reference Circuit
Common body reference circuit for 4 channels
Using summing amplifier circuit and sign changing circuit
Inverting Summing Amplifier Circuit
Sign Changing Circuit
(Inverting Amplifier Circuit)
For independent R
1
, R
2
, R
3
, and R
4
:
|
|
.
|
\
|
+ + + =
4
4
3
3
2
2
1
1
R
V
R
V
R
V
R
V
R Vout
F
For R
1
= R
2
= R
3
= R
4
:
( )
1 2 3 4
1
F
R
Vout V V V V
R
= + + +
2
1
R
Vout Vin
R
=
For independent R
1
, and R
2
:
For R
1
= R
2
:
Vin Vout =
EMG Amplifier: Average Body Reference Circuit
(Cont.)
Common Body Reference Output:

Average Body Reference Circuit
( )
( )
( )
1 2 3 4
1 2 3 4
1
1
1 1
1 4.7
1
4
k
VoutB VoutA
k
k k
Bodyref Bodyref Bodyref Bodyref
k k
Bodyref Bodyref Bodyref Bodyref
=
| || |
= + + +
| |
\ .\ .
~ + + +
( )
1 2 3 4
1
4.7
k
VoutA Bodyref Bodyref Bodyref Bodyref
k
= + + +
EMG Amplifier: Filter
Suppress noise that has been amplified by
the preamplifier
Help to sink any DC current that cause
bias to the output
Select particular signal frequency range
Use RC High Pass Filter of 12 Hz

EMG Amplifier: Filter (cont.)
Cutoff Frequency:

Cutoff Frequency of 12 Hz:

RC High Pass Filter
RC High Pass Filter
Cutoff Frequency of 12Hz
1
2
cutoff
f
RC t
| |
=
|
\ .
Hz
nF k
f
cutoff
12
66 . 11
150 91 2
1
~
=
|
.
|
\
|

=
t
EMG Amplifier: Amplifier and Bias Adjustment
Provide abilities to amplify and adjust
reference level of output signals
Individual amplifier and bias adjustment
unit for each channel
Use Non-Inverting circuit for amplifier unit
Use Voltage Follower Offset Adjustment
circuit for bias adjustment unit
Provide Gain of 21 times
Provide Offset of 9 volts
(cont.)
Non-Inverting Amplifier Circuit
Non-Inverting Output:
3
1
1
R
Vout Vin
R
| |
= +
|
\ .
3
1
1
R
Gain
R
| |
= +
|
\ .
EMG Amplifier: Amplifier and Bias
Adjustment (cont.)
Amplifier Gain:
40
35
1
0
1
10
1
R
Gain
R
k
| |
= +
|
\ .
| |
= +
|
\ .
=
At :
0
40
= R
Amplifier Circuit with Gain Adjustment
Amplifier Circuit with Gain Adjustment
At :
k R 200
40
=
40
35
1
200
1
10
21
R
Gain
R
k
k
| |
= +
|
\ .
| |
= +
|
\ .
=
(cont.)
Offset Adjustment for Voltage Follower
2
R
2
0 R = Vadj Vcc = + Case 1: at 0% of : ( ohms; volts )
3
1
1
R
Gain
R
= +
3
1
1
R
Vout Vin Vcc
R
| |
= + +
|
\ .
2
R Case 2: at 50% of : ( ohms; volts )
2
2
2
R
R = 0 Vadj =
3
2
1
1
2
R
Gain
R
R
= +
+
3
2
1
1
2
R
Vout Vin
R
R
| |
|
= +
|
|
+
\ .
2
R Case 3: at 100% of : ( ohms; volts ) Vadj Vcc =
2 2
R R =
3
1 2
1
R
Gain
R R
= +
+
3
1 2
1
R
Vout Vin Vcc
R R
| |
= +
|
+
\ .
Output of the circuit:
( ) Vout Vin Gain Vadj = +
1 2
: where V Vadj V s s
(cont.)
Bias Adjustment Circuit
2
R
2
0 R = Vadj Vcc = + Case 1: at 0% of : ( ohms; volts )
38
37
1
1
1
10
1.1
R
Gain
R
k
k
= +
= +
=
2
R Case 2: at 50% of : ( ohms; volts )
2
2
2
R
R = 0 Vadj =
38
41
37
1
2
1
1
50
10
2
1.029
R
Gain
R
R
k
k
k
= +
+
= +
+
=
2
R Case 3: at 100% of : ( ohms; volts ) Vadj Vcc =
2 2
R R =
38
37 41
1
1
1
10 50
1.017
R
Gain
R R
k
k k
= +
+
= +
+
=
_ ( ) 9 Vout final Vout Amp V =
Output of the circuit:
: 9 _ 9 volts. where Vout final V s s +
A/D Interface Card
NI 6220 M-Series Multifunction DAQ
Clock Speed: 8 Hz, up to 1 MHz
Analog Input Resolution: 16 bits
Number of Analog Input Channels: 8
Final Product Assembly
Circuit designed and tested on breadboard
Schematic created by Multisim8
PCB layout created by Ultiborad7
Final Product Assembly (cont.)
A schematic diagram is drawn using
Multisim8.
Netlist contains all circuit connections.
Netlist is transferred to Ultiboard7 for PCB
layout.
PCB is a double layer (top copper layer
and bottom copper layer)
Through holes connect between 2 layers.
PCB shipped by the manufacturer
PCB after soldering
Calibration Procedure
Each channel is individually calibrated.
Input is equal to output (100 mV.)
If an arbitrary gain is needed, the output is desired gain
value multiplied by input.

EMG Capture
Provides 3 play modes: Real-Time,
Record, and Playback mode.
Able to save and open EMG data to/from
file.
Display features:
Voltage scales
Time scales
Readout of exact values

EMG Capture: User Interface
EMG Capture: Main Parameter Subpanel
Working with Real-Time mode and Record
mode.
Maximum Buffer Size (Samples per Channel)
Sampling Rate (Hz)
EMG Capture: Play Mode
EMG Capture: Real-Time Mode
- Start real time mode

- Stop real time mode

- Freeze output display for
examine interesting segments
or save the data

- Resume real time mode

- Save data in buffer to file
START
STOP
Pause
Resume
Save
EMG Capture: Record Mode
- Start to Record the
signals in specific
time range in
seconds.

- Save the data to file
START
Save
EMG Capture: Playback Mode
- Open EMG data file (.emg)
Open
Standard window open dialog
EMG Capture: Voltage Scale
Voltage scale is
independent for each
channel.
Alternative voltage
scales:
200 mV/Div.
500 mV/Div.
1 V/Div.
2.5 V/Div.
5 V/Div.

EMG Capture: Time Scale
All channels use the
same time scale
Alternative time
scales:
1 mSec/Div.
5 mSec/Div.
10 mSec/Div.
50 mSec/Div.
100 mSec/Div.
200 mSec/Div.
400 mSec/Div.
EMG Capture: Time Slider
Scroll time slider to view data from beginning to the end.
The numbers on the left and right corner correspond to
the time stamp of the first and the last sample shown on
the output display screen.
5.416 is 5 seconds and 416 milliseconds.
EMG Capture: Readout
Read extract value at pink vertical line
Need not to compute the value of scale
Unit: Time (sec) , Voltage (V)
EMG Capture: Output Display
Displays 4 channels
Voltage: 4 divisions
2 positive divisions
2 negative divisions
Time: 15 divisions

Maximum Display:
10 volts with 5 volts/Div.
6 seconds with 400
mSec/Div

EMG Capture: Status Bar
Guide user through the usage
Display important message
eg. Number of samples that went into the buffer.
EMGC Implementation
Developed by using Microsoft Visual C++ tool
GUI developed with MFC (Microsoft Foundation Class)
library
Runs on Windows 2000 machine which has A/D
interface card installed
A/D Interface Card: Multifunction Data Acquisition
(DAQ), M-6220 series from National Instrument
Company
EMGC Implementation: Output Buffer Structure
CArray class from MFC Library used to store
input signal data.
CArray can dynamically shrink and grow if
necessary.
struct SOutputData
{
int output_ii; //Iteration start from 0
double time; //Time stamp in Second
double volt1; //Voltage value for CH1, CH2, CH3, and CH4
double volt2;
double volt1;
double volt1;
};

CArray <SOutputData, SOutputData> dumpDataArray;
EMGC Implementation: Creating Voltages and Time Scales
Use spin control to select the scales.
Spin control increase/decrease spin value by a
specific number of steps.
Use spin value as the index of scale array.
//For Calculation
double voltScaleSet[5] = {5.0, 2.5, 1.0, 0.5, 0.2}; //unit in volt/div

//For Screen Display
CString voltScaleStrMap[5] = {5 Volt/Div, 2.5 Volt/Div,
1 Volt/Div, 500 mVolt/Div, 200 mVolt/Div};
EMGC Implementation: Draw Grid for Graph Output
Use CDC class (Class Device-Context object) to draw
output on the screen.

The CDC class is a class from the MFC library.

CDC provides various kinds of drawing functions
(working with drawing tool, converting the coordinates,
drawing rectangles, drawing circles, drawing text,
changing the color)

EMGC Implementation: Draw Grid for Graph Output (cont.)
private:

//Variables for drawing output
int _maxTimeDiv; //Max number of divisions to display on Output-Panel
int _maxVoltDiv; //time axis = 15 divisions
//volt axis = 4 divisions (2 positive Divs)
// (2 negative Divs)

int _ptsPerDiv; //How many points are there in 1 division.
//1 point = 0.1 milimeter
//Default 100 points = 1 division is 1 cm wide
// ** Base on: Display Resolution= 1024 x 768

int _maxDrawPtsX; // _maxTimeDiv*_ptsPerDiv, Max Drawing Point for
// time
int _maxDrawPtsY; // _maxTimeDiv*_ptsPerDiv, Max Drawing Point for volt
//Default x=1500, y=400
EMGC Implementation: Draw Grid for Graph Output (cont.)
EMGC Implementation: Drawing Graph Output

( )
_ ptsPerDiv
drawValueX time startTime
curTimeScale
| |
=
|
\ .
Function CEMGCDlg::voltToDC()

_ _
2
ptsPerDiv maxDrawPtsY
drawValueY volt
vScale
| | | |
= +
| |
\ . \ .
Function CEMGCDlg::voltToDC()
The output can be drawn by using (x,y) coordinate to
specify position to draw.

EMGC Implementation: Saving Data Buffer To File
File Extension (.emg)
Header line contains
Sampling rate (HZ)
Record time period (sec)
Data speparate by a
space.
Each record separated by
a carriage return (put in
front).
EMGC Implementation: Read File To Data Buffer
Read header file
Sampling rate -> computes sampling period
Record time period -> verifies the data file (completed or in
completed)
Store data in buffer (dumpDataArray)
struct SOutputData
{
int output_ii; //Iteration start from 0
double time; //Time stamp in Second
double volt1; //Voltage value for CH1, CH2, CH3, and CH4
double volt2;
double volt1;
double volt1;
};

CArray <SOutputData, SOutputData> dumpDataArray;
Results
Our EMG Amplifier ME3000 Muscle Tester
A comparison of cylindrical grasp recorded from our EMG amplifier and ME3000.
Results (cont.)
Our EMG Amplifier ME3000 Muscle Tester
A comparison of preshaping of cylindrical grasp recorded from our EMG amplifier and ME3000.
Conclusion
This thesis presents an implementation of EMG amplifier
device and EMG Capture program.
Major problems were:
To reduce noise, moving artifacts, system grounding and DC
bias.
Problems solved through:
Proper choice of discrete components (resistors, capacitors, and
ICs)
Proper design of circuitry
Final implementation of the device using PCB technology
Systematic experimentation with the prototype (implemented on
a breadboard)
Extensive testing of the device after implementation and
executing final corrections.
Future Work
EMG amplifier
Smaller size of the housing unit.
Eliminate electrode extensions
EMG Capture program
Add print feature
Add properties feature for changing system
parameters
Improve drawing ability

Thesis

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Copyright 2005 by Saksit Siriprayoonsak 1

Preamplifier with Body Reference Circuit (1 channel)

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