Single motor unit myoelectric signal analysis with nonstationary data

Tutorial. Surface electromyogram (sEMG) amplitude estimation: Best practices

This tutorial intends to provide insight, instructions and "best practices" for those who are novices-including clinicians, engineers and non-engineers-in extracting electromyogram (EMG) amplitude from the bipolar surface EMG (sEMG) signal of voluntary contractions. A brief discussion of sEMG amplitude extraction from high density sEMG (HDsEMG) arrays and feature extraction from electrically elicited contractions is also provided. This tutorial attempts to present its main concepts in a straightforward manner that is accessible to novices in the field not possessing a wide range of technical background (if any) in this area. Surface EMG amplitude, also referred to as the sEMG envelope [often implemented as root mean square (RMS) sEMG or average rectified value (ARV) sEMG], quantifies the voltage variation of the sEMG signal and is grossly related to the overall neural excitation of the muscle and to peripheral parameters. The tutorial briefly reviews the physiological origin of the voluntary sEMG signal and sEMG recording, including electrode configurations, sEMG signal transduction, electronic conditioning and conversion by an analog-to-digital converter. These topics have been covered in greater detail in prior tutorials in this series. In depth descriptions of state-of-the-art methods for computing sEMG amplitude are then provided, including guidance on signal pre-conditioning, absolute value vs. square-law detection, selection of appropriate sEMG amplitude smoothing filters and attenuation of measurement noise. The tutorial provides a detailed list of best practices for sEMG amplitude estimation.

Exact inter-discharge interval distribution of motor unit firing patterns with gamma model

Inter-discharge interval distribution modeling of the motor unit firing pattern plays an important role in electromyographic decomposition and the statistical analysis of firing patterns. When modeling firing patterns obtained from automatic procedures, false positives and false negatives can be taken into account to enhance performance in estimating firing pattern statistics. Available models of this type, however, are only approximate and use Gaussian distributions, which are not strictly suitable for modeling renewal point processes. In this paper, the theory of point processes is used to derive an exact solution to the distribution when a gamma distribution is used to model the physiological firing pattern. Besides being exact, the solution provides a way to model the skewness of the inter-discharge distribution, and this may make it possible to obtain a better fit with available experimental data. In order to demonstrate potential applications of the model, we use it to obtain a maximum likelihood estimator of firing pattern statistics. Our tests found this estimator to be reliable over a wide range of firing conditions, whether dealing with real or simulated firing patterns, the proposed solution had better agreement than other models.

Graphical Abstract

Comparison of methods for estimating motor unit firing rate time series from firing times

The central nervous system regulates recruitment and firing of motor units to modulate muscle tension. Estimation of the firing rate time series is typically performed by decomposing the electromyogram (EMG) into its constituent firing times, then lowpass filtering a constituent train of impulses. Little research has examined the performance of different estimation methods, particularly in the inevitable presence of decomposition errors. The study of electrocardiogram (ECG) and electroneurogram (ENG) firing rate time series presents a similar problem, and has applied novel simulation models and firing rate estimators. Herein, we adapted an ENG/ECG simulation model to generate realistic EMG firing times derived from known rates, and assessed various firing rate time series estimation methods. ENG/ECG-inspired rate estimation worked exceptionally well when EMG decomposition errors were absent, but degraded unacceptably with decomposition error rates of ⩾1%. Typical EMG decomposition error rates-even after expert manual review-are 3-5%. At realistic decomposition error rates, more traditional EMG smoothing approaches performed best, when optimal smoothing window durations were selected. This optimal window was often longer than the 400ms duration that is commonly used in the literature. The optimal duration decreased as the modulation frequency of firing rate increased, average firing rate increased and decomposition errors decreased. Examples of these rate estimation methods on physiologic data are also provided, demonstrating their influence on measures computed from the firing rate estimate.

Do Cost Functions for Tracking Error Generalize across Tasks with Different Noise Levels?

Control of human-machine interfaces are well modeled by computational control models, which take into account the behavioral decisions people make in estimating task dynamics and state for a given control law. This control law is optimized according to a cost function, which for the sake of mathematical tractability is typically represented as a series of quadratic terms. Recent studies have found that people actually use cost functions for reaching tasks that are slightly different than a quadratic function, but it is unclear which of several cost functions best explain human behavior and if these cost functions generalize across tasks of similar nature but different scale. In this study, we used an inverse-decision-theory technique to reconstruct the cost function from empirical data collected on 24 able-bodied subjects controlling a myoelectric interface. Compared with previous studies, this experimental paradigm involved a different control source (myoelectric control, which has inherently large multiplicative noise), a different control interface (control signal was mapped to cursor velocity), and a different task (the tracking position dynamically moved on the screen throughout each trial). Several cost functions, including a linear-quadratic; an inverted Gaussian, and a power function, accurately described the behavior of subjects throughout this experiment better than a quadratic cost function or other explored candidate cost functions (p<0.05). Importantly, despite the differences in the experimental paradigm and a substantially larger scale of error, we found only one candidate cost function whose parameter was consistent with the previous studies: a power function (cost ∝ error^α) with a parameter value of α = 1.69 (1.53–1.78 interquartile range). This result suggests that a power-function is a representative function of user’s error cost over a range of noise amplitudes for pointing and tracking tasks.

Inter-discharge interval distribution of motor unit firing patterns with detection errors

Inter-discharge interval (IDI) distribution analysis of motor unit firing patterns is a valuable tool in EMG decomposition and analysis. However, the firing pattern obtained by EMG decomposition may have detection errors: false positives (incorrectly classified firings) and false negatives (missed firings). In this paper, the mathematical derivation of an IDI distribution model that accommodates false positives and false negatives of the detection process is presented. An approximation of the general model to adapt to specific EMG decomposition conditions is also presented. To illustrate the usefulness of the model, the obtained distribution is used to derive the maximum likelihood estimates of the statistics of motor unit firing patterns, the IDI mean and standard deviation, and estimates of the false negative and false positive ratios. Results obtained from simulation experiments and tests with real motor unit firing patterns show an enhanced estimation performance when compared to previously available algorithms. Goodness-of-fit tests applied to estimations for real data corrupted with false positives showed that the model-driven estimations fitted the uncorrupted data better than EFE estimations: 82% versus 52% not rejectable, respectively, when false positives were about 10% of IDIs. With about 5% false positives, the not rejectable estimations were 85% versus 70%.

Maximum likelihood estimation of motor unit firing pattern statistics

Estimation of motor unit firing pattern statistics is a valuable method in physiological studies and a key procedure in electromyographic (EMG) decomposition algorithms. However, if any firings within the pattern are undetected or missed during the decomposition process, the estimation procedure can be disrupted. In order to provide an optimal solution, we present a maximum likelihood estimator of EMG firing pattern statistics, taking into account that some firings may be undetected. A model of the inter-discharge interval (IDI) probability density function with missing firings has been employed to derive the maximum likelihood estimator of the mean and standard deviation of the IDIs. Actual calculation of the maximum likelihood solution has been obtained by means of numerical optimization. The proposed estimator has been evaluated and compared to other previously developed algorithms by means of simulation experiments and has been tested on real signals. The new estimator was found to be robust and reliable in diverse conditions: IDI distributions with a high coefficient of variance or considerable skewness. Moreover, the proposed estimator outperforms previous algorithms both in simulated and real conditions.

Techniques of EMG signal analysis: detection, processing, classification and applications

Electromyography (EMG) signals can be used for clinical/biomedical applications, Evolvable Hardware Chip (EHW) development, and modern human computer interaction. EMG signals acquired from muscles require advanced methods for detection, decomposition, processing, and classification. The purpose of this paper is to illustrate the various methodologies and algorithms for EMG signal analysis to provide efficient and effective ways of understanding the signal and its nature. We further point up some of the hardware implementations using EMG focusing on applications related to prosthetic hand control, grasp recognition, and human computer interaction. A comparison study is also given to show performance of various EMG signal analysis methods. This paper provides researchers a good understanding of EMG signal and its analysis procedures. This knowledge will help them develop more powerful, flexible, and efficient applications.

The extraction of neural strategies from the surface EMG

This brief review examines some of the methods used to infer central control strategies from surface electromyogram (EMG) recordings. Among the many uses of the surface EMG in studying the neural control of movement, the review critically evaluates only some of the applications. The focus is on the relations between global features of the surface EMG and the underlying physiological processes. Because direct measurements of motor unit activation are not available and many factors can influence the signal, these relations are frequently misinterpreted. These errors are compounded by the counterintuitive effects that some system parameters can have on the EMG signal. The phenomenon of crosstalk is used as an example of these problems. The review describes the limitations of techniques used to infer the level of muscle activation, the type of motor unit recruited, the upper limit of motor unit recruitment, the average discharge rate, and the degree of synchronization between motor units. Although the global surface EMG is a useful measure of muscle activation and assessment, there are limits to the information that can be extracted from this signal.

The effects of four time-varying factors on the mean frequency of a myoelectric signal

Daily activities involve dynamic muscle contractions that yield nonstationary myoelectric signals (MESs). The purpose of this work was to determine the individual effects of four time-varying factors (the number and firing rate of active motor units, muscle force and joint angle) on the mean frequency of a MES. Previous theoretical and experimental work revealed that although changes in the number and firing rate of active motor units contribute to the nonstationarities of the signal, they do not significantly affect the mean frequency. In the experimental work, 12 subjects performed 25 static contractions, one for each force (20, 30, 40, 50 and 60% of maximum voluntary contraction) and elbow joint angle (50, 70, 90, 110 and 130 degrees extension) combination. A MES was recorded from the surface of the biceps brachii during each contraction. The results indicated that muscle force only weakly affects the mean frequency. Also shown was that alteration in muscle geometry resulting from changes in elbow joint angle does significantly affect the mean frequency. Knowing this is important for the assessment of muscle fatigue during dynamic contractions.

Analysis of motor unit firing patterns in patients with central or peripheral lesions using singular-value decomposition

We applied the singular value decomposition (SVD) method to study single motor unit firing patterns. Two projects were carried out: (1) a computer simulation study to confirm the meanings of two SVD parameters, the eigenvalue corresponding to the positive-slope eigenvector (PEV) and that corresponding to the negative-slope eigenvector (NEV); and (2) a clinical study for which electromyographic (EMG) recordings were made from first dorsal interosseous muscle in patients with stroke, myopathies, or neuropathies and in healthy control subjects. Results of computer simulation reveal that the NEV reflects the amount of instantaneous firing variability, whereas the PEV/NEV (P/N) ratio exhibits the relative effect of a trend in the firing pattern. In human studies, the P/N ratio of stroke patients was significantly higher than that of the controls, whereas their NEV was comparable. By contrast, in the myopathy and neuropathy groups, the NEV increased significantly, whereas the P/N ratio did not. These results suggest that the SVD method decomposes the motor unit (MU) firing variation into two components and that the mechanism for increased firing variability is different for supraspinal and spinal-infraspinal lesions.

Possible mechanisms of muscle cramp from temporal and spatial surface EMG characteristics

In this study, the initiation and development of muscle cramp are investigated. For this, we used a 64-channel surface electromyogram (EMG) to study the triceps surae muscle during both cramp and maximal voluntary contraction (MVC) in four cramp-prone subjects and during cramp only in another four cramp-prone subjects. The results show that cramp presents itself as a contraction of a slowly moving fraction of muscle fibers, indicating that either the spatial arrangement of the motoneurons and muscle fibers is highly related or that cramp spreads at a level close to the muscle. Spectral analyses of the EMG and peak-triggered average potentials show the presence of extremely short potentials during cramp compared with during MVC. These results can also be interpreted in two ways. Either the motoneurons fire with enlarged synchronization during MVC compared with cramp, or smaller units than motor units are active, indicating that cramp is initiated close to or even at the muscle fiber level. Further research is needed to draw final conclusions.

A model of EMG generation

Simulation models are unavoidable in experimental research when the point is to develop new processing algorithms to be applied on real signals in order to extract specific parameter values. Such algorithms have generally to be optimized by comparing true parameter values to those deduced from the algorithm. Only a simulation model can allow the user to access and control the actual process parameter values. This constraint is especially true when dealing with biomedical signals like surface electromyogram (SEMG). This work is an attempt to produce an efficient SEMG simulation model as a help for assessing algorithms related to SEMG features description. It takes into account the most important parameters which could influence these characteristics. This model includes all transformations from intracellular potential to surface recordings as well as a fast implementation of the extracellular potential computation. In addition, this model allows multiple graphically-programmable electrode-set configurations and SEMG simulation in both voluntary and elicited contractions.

Spatio-temporal representation of multichannel EMG firing patterns and its clinical applications

Analyzing motor unit (MU) activity is essential for studying the neurological dysfunction of upper motor neuron disorders (UMND). This study employs multichannel surface electromyographic (EMG) signals, as recorded from the upper arm during elbow flexion and extension, to analyze the temporal changes and spatial distribution of the dominant firing rate. To estimate the dominant firing rate, the autoregressive (AR) spectrum analysis method is utilized to detect the peaks and poles of the AR model, of the surface EMG spectrum below 40 Hz. The temporal changes in firing rates are also observed by using the spectrogram representation of low-frequency EMG spectra. The EMG spectrogram facilitates examination of the time-varying characteristics of firing rates and recruitment of MUs from surface EMG signal. The low-frequency spectra of multichannel EMG are then represented in a polar form to visualize the spatial distribution of firing patterns across muscles. Via spatio-temporal representation techniques, this study provides a viable approach of observing both the spatial and temporal patterns of MU activities in normal subjects and patients with UMND, including cerebrovascular disease and Parkinson's disease.