Physics-Embedded Neural Networks for sEMG-based Continuous Motion Estimation

• URL: http://arxiv.org/abs/2506.22459v1
• Date: Tue, 17 Jun 2025 16:07:20 GMT
• Title: Physics-Embedded Neural Networks for sEMG-based Continuous Motion Estimation
• Authors: Wending Heng, Chaoyuan Liang, Yihui Zhao, Zhiqiang Zhang, Glen Cooper, Zhenhong Li,
• Abstract summary: sEMG-based motion estimation methods often rely on subject-specific musculoskeletal (MSK) models that are difficult to calibrate.<n>This paper introduces a novel Physics-Embedded Neural Network (PENN) that combines interpretable MSK forward-dynamics with data-driven residual learning.
• Score: 3.606446851103922
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Accurately decoding human motion intentions from surface electromyography (sEMG) is essential for myoelectric control and has wide applications in rehabilitation robotics and assistive technologies. However, existing sEMG-based motion estimation methods often rely on subject-specific musculoskeletal (MSK) models that are difficult to calibrate, or purely data-driven models that lack physiological consistency. This paper introduces a novel Physics-Embedded Neural Network (PENN) that combines interpretable MSK forward-dynamics with data-driven residual learning, thereby preserving physiological consistency while achieving accurate motion estimation. The PENN employs a recursive temporal structure to propagate historical estimates and a lightweight convolutional neural network for residual correction, leading to robust and temporally coherent estimations. A two-phase training strategy is designed for PENN. Experimental evaluations on six healthy subjects show that PENN outperforms state-of-the-art baseline methods in both root mean square error (RMSE) and $R^2$ metrics.

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