sEMG-Based End-to-End Continues Prediction of Human Knee Joint Angles Using the Tightly Coupled Convolutional Transformer Model

Wearable exoskeleton robots can promote the rehabilitation of patients with physical dysfunction. And improving human-computer interaction performance is a significant challenge for exoskeleton robots. The traditional feature extraction process based on surface Electromyography(sEMG) is complex and requires manual intervention, making real-time performance difficult to guarantee. In this study, we propose an end-to-end method to predict human knee joint angles based on sEMG signals using a tightly coupled convolutional transformer (TCCT) model. We first collected sEMG signals from 5 healthy subjects. Then, the envelope was extracted from the noise-removed sEMG signal and used as the input to the model. Finally, we developed the TCCT model to predict the knee joint angle after 100 ms. For the prediction performance, we used the Root Mean Square Error(RMSE), Pearson Correlation Coefficient(CC), and Adjustment R
²
as metrics to evaluate the error between the actual knee angle and the predicted knee angle. The results show that the model can predict the human knee angle quickly and accurately. The mean RMSE, Adjustment R
²
, and (CC) values of the model are 3.79°, 0.96, and 0.98, respectively, which are better than traditional deep learning models such as Informer (4.14, 0.95, 0.98), CNN (5.56, 0.89, 0.96) and CNN-BiLSTM (3.97, 0.95, 0.98). In addition, the prediction time of our proposed model is only 11.67 ± 0.67 ms, which is less than 100 ms. Therefore, the real-time and accuracy of the model can meet the continuous prediction of human knee joint angle in practice.