Instruction transmission of combat robotic arm based on neck muscles surface electromyography signals

Figures & data

Figure 1. The division method and adjustment group posture.

Figure 2. Neck exercises.

Figure 3. Muscle collection position and muscle identification number.

Figure 4. Random forest principle diagram.

Figure 5. Accuracy, precision, recall, F1_score comparison chart.

Table 1. The classification performance of the five subjects.

	Accuracy	Precision	Recall	F1_score
6	93.84	94.30	93.77	93.94
5	91.12	91.62	90.99	91.17
4	86.23	86.76	85.97	86.15
3	78.22	78.51	77.83	77.87
2	62.68	62.26	61.99	61.76

Figure 6. Comparison of standard deviation for accuracy, precision, recall, and F1_score.

Figure 7. Comparison chart of the improvement degree of accuracy, precision, recall and F1_score.

Table 2. Classification accuracy performance based on different features and muscle quantities

Features	Muscle quantities	Sub.1	Sub.2	Sub.3	Sub.4	Sub.5
Initial + VMD	6	98.25	98.77	97.49	96.53	92.58
	5	97.63	98.01	96.91	95.18	91.48
	4	96.23	96.75	95.56	92.93	89.64
	3	93.87	94.21	92.90	89.26	86.63
	2	87.70	88.17	86.82	82.26	80.40
VMD	6	98.06	98.49	97.29	96.07	91.36
	5	97.33	97.59	96.33	94.31	90.04
	4	96.06	96.30	95.00	91.83	88.35
	3	93.30	93.69	92.12	88.06	85.24
	2	86.94	87.28	86.07	80.90	78.97
initial	6	95.81	96.42	94.89	92.77	89.11
	5	93.28	93.72	92.28	89.58	86.74
	4	88.97	89.42	86.93	83.77	82.06
	3	81.31	81.56	78.20	75.36	74.69
	2	66.25	65.39	61.82	59.46	60.44

Table 3. Classification accuracy performance based on different muscle combinations.

Muscles Involved Identification Number	Sub.1	Sub.2	Sub.3	Sub.4	Sub.5
12345	96.93	97.92	96.54	95.81	91.26
12346	97.33	96.61	97.05	94.22	91.24
12356	98.14	98.68	96.87	94.52	91.55
12456	97.79	98.39	96.72	95.21	91.43
13456	98.03	98.30	97.30	96.24	91.57
23456	97.59	98.17	96.97	95.07	91.84
1234	95.95	95.49	94.56	91.99	87.51
1235	96.07	97.31	94.91	92.37	89.68
1236	96.27	96.20	95.38	90.89	89.38
1245	95.86	96.74	95.60	93.92	89.26
1246	95.74	94.40	95.46	91.84	88.93
1256	97.18	97.97	95.61	91.99	89.64
1345	96.43	97.12	95.81	95.02	90.48
1346	95.85	95.69	96.21	92.98	89.69
1356	97.07	97.86	96.03	93.58	90.27
1456	95.85	97.48	96.33	94.12	89.62
2345	96.25	97.21	95.16	93.99	90.27
2346	95.65	95.56	95.50	92.08	90.11
2356	97.02	97.92	95.75	92.55	90.25
2456	96.37	97.39	96.02	92.49	89.93
3456	95.86	96.91	95.08	94.13	89.52
123	92.77	93.26	91.02	85.97	83.53
124	92.58	91.18	91.25	88.01	83.78
125	92.87	95.31	93.25	88.30	86.67
126	94.14	92.76	93.59	87.03	85.61
134	93.74	93.79	91.88	90.59	85.70
135	94.86	95.81	92.72	90.32	87.95
136	93.67	93.81	93.65	88.39	87.37
145	94.36	94.95	94.47	91.94	87.06
146	94.26	92.36	94.27	89.48	87.20
156	96.63	96.99	94.36	89.67	86.82
234	93.52	93.81	91.57	88.71	85.36
235	94.35	95.91	92.41	90.30	88.14
236	93.95	94.51	93.61	87.93	87.62
245	93.37	95.17	93.65	89.94	87.70
246	90.97	91.35	93.53	87.89	87.27
256	94.72	96.64	94.25	87.72	86.87
345	95.08	95.01	91.70	92.48	87.26
346	92.48	92.55	92.93	89.77	87.06
356	95.74	95.12	91.04	90.24	87.18
456	93.44	93.85	92.79	90.54	86.47
12	84.51	83.95	85.84	77.19	75.41
13	87.54	87.82	84.17	81.58	79.35
14	88.21	86.55	85.85	83.41	79.64
15	89.12	91.19	89.67	83.34	82.29
16	89.60	88.03	90.37	81.79	81.80
23	88.02	89.82	85.42	81.08	79.43
24	84.77	85.73	85.43	80.54	80.12
25	88.09	91.90	89.28	81.63	82.63
26	86.61	87.85	89.82	79.88	81.39
34	89.34	87.25	83.17	84.44	80.16
35	91.66	91.59	83.37	85.54	82.58
36	87.02	87.24	86.16	82.37	82.35
45	87.66	88.54	87.84	86.28	81.60
46	83.85	85.18	88.29	83.18	80.85
56	89.46	89.90	87.65	81.67	76.36

Note: Bold values indicates the highest and lowest accuracy rates of muscle combinations for each participant when the number of muscles involved in the classification is the same.

Table 4. Different muscle scoring results.

Muscle quantities	Muscles involved identification numberP}	Sub.1	Sub.2	Sub.3	Sub.4	Sub.5
5	1	97.64	97.98	96.90	95.20	91.41
	2	97.55	97.95	96.83	94.97	91.46
	3	97.60	97.94	96.95	95.17	91.49
	4	97.53	97.88	96.92	95.31	91.47
	5	97.70	98.29	96.88	95.37	91.53
	6	97.78	98.03	96.98	95.05	91.52
4	1	96.23	96.63	95.59	92.87	89.45
	2	96.24	96.62	95.39	92.41	89.50
	3	96.24	96.73	95.44	92.96	89.71
	4	95.98	96.40	95.57	93.26	89.53
	5	96.40	97.39	95.63	93.42	89.89
	6	96.29	96.74	95.74	92.66	89.73
3	1	93.99	94.02	93.05	88.97	86.17
	2	93.32	93.99	92.81	88.18	86.25
	3	94.01	94.36	92.25	89.47	86.72
	4	93.38	93.40	92.80	89.94	86.49
	5	94.54	95.48	93.06	90.15	87.21
	6	94.00	93.99	93.40	88.87	86.95

Note: Bold values highlight the highest and lowest scores of muscles for each participant under the same condition of the number of muscles involved in the classification.

Table 5. Summary of muscle scoring performance.

	1	2	3	4	5	6
Most frequent	0	0	0	0	11	4
Second most frequent	0	0	3	3	3	6
Least frequent	3	6	1	5	0	0
Second least frequent	1	6	2	2	1	4

Note: Bold values signifies the maximum value within each row.