A BERT Based Method for Continuous Estimation of Cross-Subject Hand Kinematics From Surface Electromyographic Signals

Estimation of hand kinematics from surface electromyographic (sEMG) signals provides a non-invasive human-machine interface. This approach is usually subject-specific, so that the training on one individual does not generalise to different subjects. In this paper, we propose a method based on Bidirectional Encoder Representation from Transformers (BERT) structure to predict the movement of hands from the root mean square (RMS) feature of the sEMG signal following $\mu $ -law normalization. The method was tested for within-subject and cross-subject conditions. We trained the model with two hard sample mining methods, Gradient Harmonizing Mechanism (GHM) and Online Hard Sample Mining (OHEM). The proposed method was compared with classic approaches, including long short-term memory (LSTM) and Temporal Convolutional Network (TCN) as well as a recent method called Long Exposure Convolutional Memory Network (LE-ConvMN). Correlation coefficient (CC), normalized root mean square error (NRMSE) and time costs were used as performance metrics. Our method (sBERT-OHEM) achieved state-of-the-art performance in cross-subject evaluation as well as high performance in subject-specific tests on the Ninapro dataset. The above tests are based on the same randomly selected 10 subjects. Generally, in the cross-subject situation, with the increasing of the subjects’ number, it unavoidably leads to the decline of the performance. While the performance of our method on 38 subjects was significantly higher than the other methods on 10 subjects in cross-subject conditions, which further verified the advantage of our methods.