Real-Time Wrist Motion Decoding With High Framerate Electrical Impedance Tomography (EIT)

Abstract

Human wrist motion decoding with a biologicalsignal-based interface is a key technique in the upper-limb exoskeleton and prosthesis control. One critical issue in this field is achieving high recognition precision and fast time response while against external disturbances of sensor re-wearing. In this study, we proposed a high-framerate Electrical Impedance Tomography (EIT) system combined with an adaptive recognition algorithm for real-time wrist kinematics decoding. The highframerate EIT system was developed by a parallel stimulationmeasurement sequence, and the sampling rate was as high as 104 Hz. Compared to the most widely used myoelectric techniques, the EIT-based interface can provide extra deep muscular spatial information with similar surface electrodes. It greatly benefited the subsequent recognition algorithms, in which the key EIT regions indicating muscle morphology kept consistent after an arbitrary sensor re-donning. The designed adaptive algorithm achieved equally high performance with an automatic update of the classifier mean values with a fast self-operated calibration process. We validated the approach on 12 subjects with a 2dimensional Fitts' law test. The wrist gestures and joint angles were mapped to the direction and speed of the cursor movement, respectively. The average throughputs (TPs) of Fitts' law tests were 1.0269 ± 0.0971 bits/s and 1.0095 ± 0.0931 bits/s without and with sensor re-donning, respectively, which were comparable to the TPs of sEMG-based studies. The results showed the promise of the EIT-based interface on real-time human motion intent recognition. Future endeavors are worth being paid in this direction for more complicated robotic tasks.