Electromyography (EMG) signal recognition using combined discrete wavelet

transform based adaptive neuro-fuzzy inference systems (ANFIS)

Moh Arozi, Farika T. Putri, Mochammad Ariyanto, Khusnul Ari M., Munadi, and Joga D. Setiawan

Citation: AIP Conference Proceedings 1788, 030116 (2017);

View online: https://doi.org/10.1063/1.4968369
View Table of Contents: http://aip.scitation.org/toc/apc/1788/1
Published by the American Institute of Physics

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 Electromyography (EMG) Signal Recognition Using
Combined Discrete Wavelet Transform Based Adaptive
Neuro-Fuzzy Inference Systems (ANFIS)
Moh Arozi1, a), Farika T Putri1, b), Mochammad Ariyanto1, c), Khusnul Ari M1, d)
Munadi1, e) and Joga D. Setiawan2, f)
1
Mechanical Engineering Department, Engineering Faculty, Diponegoro University, Semarang
2
Mechanical Engineering Department, Universiti Teknologi PETRONAS, Malaysia
f)
Corresponding author: joga.setiawan@gmail.com
a)
arosiboy@gmail.com
b)
farikatonoputri@gmail.com
c)
ari_janto5@undip.ac.id
d)
khusnul.arim@gmail.com
e)
muna_096@yahoo.com

Abstract. People with disabilities are increasing from year to year either due to congenital factors, sickness, accident
factors and war. One form of disability is the case of interruptions of hand function. The condition requires and
encourages the search for solutions in the form of creating an artificial hand with the ability as a human hand. The
development of science in the field of neuroscience currently allows the use of electromyography (EMG) to control the
motion of artificial prosthetic hand into the necessary use of EMG as an input signal to control artificial prosthetic hand.
This study is the beginning of a significant research planned in the development of artificial prosthetic hand with EMG
signal input. This initial research focused on the study of EMG signal recognition. Preliminary results show that the EMG
signal recognition using combined discrete wavelet transform and Adaptive Neuro-Fuzzy Inference System (ANFIS)
produces accuracy 98.3 % for training and 98.51% for testing. Thus the results can be used as an input signal for
Simulink block diagram of a prosthetic hand that will be developed on next study. The research will proceed with the
construction of artificial prosthetic hand along with Simulink program controlling and integrating everything into one
system.

INTRODUCTION
The development of technology has been increasing rapidly along with the increasing range of science
disciplines. One of the new subjects formed from several disciplines is Biomedical Engineering. Biomedical
engineering disciplines appear to help find solutions to various problems in the field of medicine. One of the
problems, that exists in Indonesia today, can get benefit from the implementation of Biomedical Engineering is the
disability issue which happens in Indonesian society. This dispute increases from year to year. Artificial hand
(artificial prosthetic hand) can be an appropriate solution to the problem. Many artificial prosthetic hands in
Indonesia are still passive and still worth considering. Therefore, it is strongly needed to develop an artificial
prosthetic hand that active and responsive to the input signal from electromyography (EMG). The proposed
prosthetic hand must be appropriate to the size and purchasing power of Indonesia citizen.
One of the important variables to develop artificial hand that active and responsive is the right input signal which
can be used as a controller of a prosthetic hand. EMG is one kind of signal that can be utilized as a control signal
from the artificial hand that will be developed [1,2]. Widely used classification methods that can be used to obtain
high classification accuracy are artificial neural network [3,4], fuzzy classifiers, neuro-fuzzy classifiers [5] and the

International Conference on Engineering, Science and Nanotechnology 2016 (ICESNANO 2016)

AIP Conf. Proc. 1788, 030116-1–030116-8; doi: 10.1063/1.4968369
Published by AIP Publishing. 978-0-7354-1452-5/$30.00

030116-1
other probabilistic based methods [6]. The current development also shows that the wavelet transform, analysis of
multi - resolution time – frequency, preferable for EMG analysis [7,8].
These initial research activities focus on the development of EMG signal recognition methods that produce a
level of data classification which is better than previous studies. Data with better classification level would be a
positive contribution from the input data to improve the accuracy of control artificial prosthetic hand that will be
made in the future studies.

EXPERIMENTAL METHOD
The experimental method of this study begins with data acquisition of EMG signal, followed by wavelet
transformation, feature extraction, and classification technique. These four processes are carried out aimed to obtain
the best input signal to control artificial prosthetic hand to be made in the future studies. The sequence of this
research can be seen in Figure 1.

FIGURE 1. Research methodology

Data acquisition as an initial stage of research contains data retrieval signal from the muscle activity of human
hands. Data acquisition is conducted by using EMG sensor FlexComp Thought Technology Infiniti. Thought
Technology Infiniti Sensor consists of 10 channels that can be used for data acquisition, biofeedback, and real-
time computerized psychophysiology. FlexComp Infiniti System is non-invasive and straightforward. This
sensor has variety usage besides EMG, such electroencephalography (EEG), skin temperature measurement, blood
volume pulse waveform (BVP), electrocardiography (ECG), skin conductance, voltage isolation, goniometer, force,
and torsiometer. FlexComp Infiniti system can record raw EMG data with sampling rate 2048 samples/second.
EMG sensor consists of three electrodes. An electrode represents ground, while two others represent output
signals.
Human uses three primary muscles to generate movements in hand wrists such as Flexor Digitorum
Superficialis, Flexor Carpi Radialis, and Extensor Carpi Radialis Longus muscles. This research uses Flexor Carpi
Radialis muscle as motion and sensor placement orientation. Sensor installation is placed with 2 cm distance
between two electrodes for the output signal. Visualization position on hand is shown in figure 2.
In this study, the EMG signal acquired from human hand is used to discriminate eight different hand motions.
Data collection of captured hand movements are hand open, close hand, mouse, keyboard, hand force, power grip,
pinch and tripod as shown in Figure 3.

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 FIGURE 2. Illustration of muscle and laying position sensor in the flexor carpi radialis.

FIGURE 3. A few hand movements performed for data retrieval.

Discrete wavelet transform method is used in this study. Discrete wavelet transform method is a method of
AMR to represent the time and frequency signals correctly. A method of discrete wavelet transform based signal
provides better speed than time-based methods such as RMS, Mean, SD and Fourier Transform [8]. The Discrete
wavelet transform of a signal x (n) is obtained using the following equation,

C ( a, b) ¦ x[n]\
nZ
a ,b [ n] (1)

where a is the dilation or scale, b is the translation and ψa,b[n] is the discrete wavelet basis function which is
expressed by the following equation

1 § nb·
\ a ,b [ n ] u\ ¨ ¸ (2)
a © a ¹

Feature extraction as the next step attempt to extract useful information from the EMG signal. Feature
extraction is a method to count, locate and distinguish characteristic (feature) between the signals from some
muscle activity to move the artificial prosthetic hand. Feature extraction method can be obtained from the studies
that have been published or formulated in a new mathematical model. This research uses five features for EMG.
Three features based on time domain consist of Root Mean Square (RMS), kurtosis and skewness. Two other

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features based on frequency domain are total power (TTP) and mean power (MNP). Definition and explanation of
each feature are as follows:

x Root Mean Square (RMS): RMS is one of time domain function. RMS is an attractive feature used in EMG
signal analysis. RMS modeled as amplitude modulated Gaussian random process [9]. The equation below
shows RMS model where N represent summation of EMG signals, xi represents raw data EMG and i represent
interval data.
N
1
RMS
N
¦x
i 1
2
i (3)

x Kurtosis: Kurtosis is a time domain based feature. Kurtosis is known as a statistical method that used to
describe the distribution and a characteristic that identifies the tendency of peak data. Kurtosis level data is
determined by comparing the peak of the curve inclination data distribution and normal curve [9].
x Skewness: Skewness is one of the EMG signal features that is included in the time domain function. Skewness
is defined as the inclination distribution data. The data is said to have a normal distribution when the location
of the average value, the median value and data mode on a line in the curve if these values are not located in
one line in the curve occurs the skewness or the heeling [9].
x Total Power (TTP): Total power includes in frequency domain feature. Total power is defined as the total
number of spectral density values for EMG signal [9].
x Mean Power (MNP): Mean power classified in time domain frequency. Mean power is defined as the average
value of the density spectrum for EMG signal [9].

ANFIS is a fuzzy inference system embedded in the framework of adaptive networks which provides the
optimization algorithm for finding parameters to fit the given data. Based on the human reasoning in the form of
fuzzy “IF-THEN” rules, ANFIS develops the mapping of input and output data pairs using a hybrid learning
procedure. This research using Sugeno model which put in an adaptive frame to facilitate learning and adaptation.
The ANFIS structure is embodied by Sugeno model. The equation (2) and (3) describe the Sugeno model.

Rule 1: If (x is A1) and (y is B1) then (f1=p1x+q1 y+r1) (4)

Rule 2: If (x is A2) and (y is B2) then (f2=p2x+q2 y+r2) (5)

Where x and y are the inputs, A1 and B1 are the fuzzy sets, fi is the fuzzy output region, pi, qi, and ri are design
parameter during the training process.

FIGURE 4. ANFIS Logic Network

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 RESULTS AND DISCUSSION
Data were collected based on 15 subjects. Each subject performed 8 modes of movements: hand open, close
hand, mouse, keyboard, hand force, power grip, pinch, and tripod. Data logging for every mode of movement is
performed 5 times. EMG signal data in each mode is cut respectively by 2000 segments then plotted based on the
time domain. Figure 5 shows the result of signal cutting for close hand mode. Result examples of all mode signal
cutting can be seen clearly in Fig. 6.

FIGURE 5. Signals from each mode of movement performed 5 times (example from hand close mode).

FIGURE 6. Signals from 8 mode movement of the hand.

The data is then processed using a discrete wavelet transform. The discrete wavelet transform decomposes data
based on frequency. The results of data processing using discrete wavelet transform using MATLAB software,
decomposing any data into six classifications of data. Figure 7 represents the result of wavelet transformation for
close hand mode.

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 FIGURE 7. The results of wavelet transform in time base signal.

Wavelet data transform result is processed using five features: RMS, kurtosis, skewness, TTP and MNP. The last
sequence for this research is classification. Feature extraction result is classified into 8 modes based on ANFIS using
MATLAB. Fuzzy Inference System (FIS) generated by choosing input and output mode. Gaussmf theory is used as
input mode, and constant approach is used as output mode. A total of 800 datasets were in 8 class, out of which 678
datasets were used as training data and 122 data set were used as testing data. The ANFIS structure consists of 243
rules and uses 10 epochs. Figure 8 indicates the training error with 10 epochs for ANFIS running. Training error
result is 1.779 which gives information on the training accuracy reach about 98.3%.

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 1.785

1.78

1.775

Error
1.77

1.765

1.76
1 2 3 4 5 6 7 8 9 10
Epoch

FIGURE 8. Training errors using ANFIS classification.

The testing error can be seen in Fig. 9. Approximately testing error reaches 1.487 which shows measurement
accuracy of 98.51%. Figure 10 informs the final result surface for input 1 and input 2.
1.496

1.495

1.494

1.493

1.492
Error

1.491

1.49

1.489

1.488

1.487
1 2 3 4 5 6 7 8 9 10
Epoch

FIGURE 9. Testing error using ANFIS classification.

FIGURE 10. Final result surface for input 1 and input 2.

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 CONCLUSIONS
The results showed that the research data could be used to identify movement after going through the process of
data acquisition and feature extraction. The research produces high accuracy results for both training and testing.
Training accuracy reaches 98.3% while testing accuracy reaches 98.51%. Thus the results of the preliminary study
can be used as input to the artificial prosthetic hand that will be developed in the future research.

ACKNOWLEDGMENT
Authors are thankful to Diponegoro University and Universiti Teknologi PETRONAS for providing the
resources required for this work.

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