Decoding High-Dimensional Finger Motion from EMG Using Riemannian Features and RNNs

• URL: http://arxiv.org/abs/2604.22499v1
• Date: Fri, 24 Apr 2026 12:27:33 GMT
• Title: Decoding High-Dimensional Finger Motion from EMG Using Riemannian Features and RNNs
• Abstract summary: We present an end-to-end framework for continuous EMG-to-kinematics regression using only consumer-grade hardware.<n>The framework combines an 8-channel EMG armband, a single webcam, and an automatic synchronization procedure.
• Score: 1.1534313664323634
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: Continuous estimation of high-dimensional finger kinematics from forearm surface electromyography (EMG) could enable natural control for hand prostheses, AR/XR interfaces, and teleoperation. However, the complexity of human hand gestures and the entanglement of forearm muscles make accurate recognition intrinsically challenging. Existing approaches typically reduce task complexity by relying on classification-based machine learning, limiting the controllable degrees of freedom and compromising on natural interaction. We present an end-to-end framework for continuous EMG-to-kinematics regression using only consumer-grade hardware. The framework combines an 8-channel EMG armband, a single webcam, and an automatic synchronization procedure, enabling the collection of the EMG Finger-Kinematics dataset (EMG-FK), a 10-h dataset of synchronized EMG and 15 finger joint angles from 20 participants performing rich, unconstrained right-hand motions. We also introduce the Temporal Riemannian Regressor (TRR), a lightweight GRU-based model that uses sequences of multi-band Riemannian covariance features to decode finger motion. Across EMG-FK and the public emg2pose benchmark, TRR outperforms state-of-the-art methods in both intra- and cross-subject evaluation. On EMG-FK, it reaches an average absolute error of $9.79 °\pm 1.48$ in intra-subject and $16.71 °\pm 3.97$ in cross-subject. Finally, we demonstrate real-time deployment on a Raspberry Pi 5 and intuitive control of a robotic hand; TRR runs at nearly 10 predictions/s and is roughly an order of magnitude faster than state-of-the-art approaches. Together, these contributions lower the barrier to reproducible, real-time EMG-based decoding of high-dimensional finger motion, and pave the way toward more natural and intuitive control of embedded EMG-based systems.

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