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pp.206-216
This paper proposes a method to simultaneously estimate two degrees of freedom in wrist forces (extension - flexion, adduction - abduction) and one degree of freedom in grasping forces using Electromyography (EMG) signals of the forearms. To correlate the EMG signals with the forces, we applied a multi - layer perceptron(MLP), which is a machine learning method, and used the characteristics of the muscles constituting the forearm to generate learning data. Through the experiments, the similarity between the MLP target value and the estimated value was investigated by applying the coefficient of determination (R2) and root mean square error (RMSE) to evaluate the performance of the proposed method. As a result, the R2values with respect to the wrist flexionextension, adduction - abduction and grasping forces were 0.79, 0.73 and 0.78 and RMSE were 0.12, 0.17, 0.13 respectively.
