SEMG-based Endpoint Stiffness Estimation of Human Arm using Gene Expression Programming

The endpoint stiffness of the human arm has been long recognized as a key factor in the smooth contact between humans and environment. And the endpoint stiffness of the human arm is highly correlated with the surface electromyography (sEMG) produced by the contraction of the muscles. In this paper, the Gene Expression Programming (GEP) Algorithm is proposed to estimate the endpoint stiffness of human arm based on sEMG. This paper improves the traditional decoding method of GEP. Instead of generating an expression tree, it is directly decoded by looking for the effective length of the gene. And experimental results show that nonlinear models such as GEP models in this paper have higher correlation and lower RMSE (root mean square error) than regression stiffness using linear regression models. Selecting different feature of EMG signals, the correlation coefficient and the root mean square error of the model is very different. For the GEP model in this paper, WPTSVD (Wavelet Package Transform Singular Value Decomposion) and WTSVD (Wavelet Transform Singular Value Decomposion) are selected as the feature of sEMG signals have high performances and the correlation can reach 57%±12.1%