EMG based Control of Below

Knee Prosthesis

Supervisor:
Engr. Syed Hammad Nazeer Gilani

Group Members:
1.Syed Muhammad Hamza (140658)
2. Anoosha Anis (150579)
3. Muhammad Abbas Irshad (150660)
 Introduction

• Prosthesis
• Transtibial Prosthesis
• According to survey conducted
on 3268 number of Amputees in
2016 in Pakistan, Below Knee
Amputees constituted about
50.1% of total amputees

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 Objectives
(Approved)

• Development and implementation of methodology for

signal acquisition using EMG
• Classification and identification of EMG signal for
extreme positions of Ankle
• Generation of commands to control the Trans-tibial
prosthesis without Feedback control

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 Problem Statement

The commercially available lower limb prosthesis in

Pakistan are:
• Completely passive
• Have fixed mechanical properties
• Have unnatural Gait
• Expensive
• Not user friendly

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 Design

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 Experimental Setup

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 Methodology

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1. Paradigm Design

• Number of classes = 2
• Number of subjects = 8 ( 6 males, 2 females)
• Age group = 20-23 years
• All subjects are healthy
• Number of activities per subject per trial= 10
• Total time for each trial = 12s

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2. Data Acquisition

• Position of electrodes:

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3. Data Acquisition
• Myoarm band for signal extraction.
• Received in Matlab using Myomex m-code wrapper
in form of nx8 vector.

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4. Pre-processing
• Power line noise is filtered by the Armband so the
signals are raw.
• Following steps were performed to smooth the
data:

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• Filtered signal:

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5. Feature Extraction

• Calculate turning/peak points.

• Extract features at each turning point.
– Features include
•Root Mean Square RMS
•Standard Deviation STD
•Waveform Length WL
•Mean Absolute Value MAV

•Feature vector size = 1600x8

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6. Classification

• The features extracted are then classified using

different Machine Learning Algorithms.

• Commonly used Algorithms:

– K-th Nearest Neighbour (KNN)
– Linear Discriminant Analysis (LDA)
– Support Vector Machines (SVM)

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 Offline accuracy
features vs. classifiers
LDA SVM KNN
100

98 98.75
96
97.5
96 96.1
ACCURACY (%)

94 95 95
92 93.4 93 93
90
90
88 89.1
88
86

84

82
RMS STD WL MAV
FEATURES

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 Modelling

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 Components Selection

1. Myo Armband
– 8 EMG electrodes
– Wireless data transfer
– All-fit design
– Non corrosive electrode
– Light weight
– Built-in filter for baseline
noise removal
– A rechargeable lithium-ion battery
– Micro usb charging

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2. Arduino Uno
– Microcontroller: ATmega328P
– 5V operating voltage
– 14 Digital I/O pins
– 6 Analog pins
– 16MHz clock speed
– Light weight (25g)

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3. Matlab R2018a (software)
– Easy integration with Myo Armband
– Machine learning algorithm and
processing
– Easy integration with Arduino

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4. Servo Motor MG996
– Easy integration
– Low power consumption
– Precise actuation

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 Cost Analysis

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 Results

• Using K-Nearest Neighbor and RMS as feature, we

were able to achieve an offline accuracy of: 98.75%
• Later, the Online accuracy was achieved to be:
91.01%

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 Working Video

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 Conclusion

We can conclude that this lower limb prosthetic has a

greater advantage over other prosthesis.
• This prosthetic can work without actually tapping
into the muscles with needles
• A prosthetic like this one is more cost efficient than
the others
• This prosthetic has quite higher accuracy

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 Reference
• https://support.getmyo.com/hc/en-us
• https://www.electronicoscaldas.com/datas
heet/MG996R_Tower-Pro.pdf
• https://store.arduino.cc/usa/arduino-uno-
rev3
• http://hope.org.pk/

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 QUESTIONS???

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 THANK YOU!

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