Estimation of distal arm joint angles from EMG and shoulder orientation for transhumeral prostheses.

In this paper, we quantify the extent to which shoulder orientation, upper-arm electromyography (EMG), and forearm EMG are predictors of distal arm joint angles during reaching in eight subjects without disability as well as three subjects with a unilateral transhumeral amputation and targeted reinnervation. Prior studies have shown that shoulder orientation and upper-arm EMG, taken separately, are predictors of both elbow flexion/extension and forearm pronation/supination. We show that, for eight subjects without disability, shoulder orientation and upper-arm EMG together are a significantly better predictor of both elbow flexion/extension during unilateral (R2=0.72) and mirrored bilateral (R2=0.72) reaches and of forearm pronation/supination during unilateral (R2=0.77) and mirrored bilateral (R2=0.70) reaches. We also show that adding forearm EMG further improves the prediction of forearm pronation/supination during unilateral (R2=0.82) and mirrored bilateral (R2=0.75) reaches. In principle, these results provide the basis for choosing inputs for control of transhumeral prostheses, both by subjects with targeted motor reinnervation (when forearm EMG is available) and by subjects without target motor reinnervation (when forearm EMG is not available). In particular, we confirm that shoulder orientation and upper-arm EMG together best predict elbow flexion/extension (R2=0.72) for three subjects with unilateral transhumeral amputations and targeted motor reinnervation. However, shoulder orientation alone best predicts forearm pronation/supination (R2=0.88) for these subjects, a contradictory result that merits further study.