‫جامعة األزهــــر – غـــــــــزة‬

Al Azhar University - Gaza

FACULTY OF ENGINEERING AND

INFORMATION TECHNOLOGY

Name of course

Name of experiment

Student 2017XXXX
Student 2017XXXX
Student 2017XXXX

SUPERVISED BY
Dr. Ahmed Isaa

October 2017
SEMESTER I 2017/2018
 Acknowledgement

To Allah, we firstly admit all our praise and thanks for his gracing and
giving which enabled us to finish this work as perfect as it is. We also send our
pleasing and peace upon his prophet Mohammed the mercy and teacher for the
mankind.

Our thanks continued to our parents for their effort and care, to our
lecturers for their support and instructions, to friends and all those who helped us
to end this work. we wish to express our deepest appreciation to our college,
thanks to all our doctors and teachers, special thanks for Dr. Ahmed Issa.

II
 Abstract

Electromyography (EMG) signals can be used for clinical/biomedical

applications, Evolvable Hardware Chip (EHW) development, and modern human
computer interaction. EMG signals acquired from muscles require advanced
methods for detection, decomposition, processing, and classification.
The purpose of this report is to illustrate the various methodologies and
algorithms for EMG signal analysis to provide efficient and effective ways of
understanding the signal and its nature.
This report provides researchers a good understanding of EMG signal and
its analysis procedures. This knowledge will help them develop more powerful,
flexible, and efficient applications.

Keywords: EMG, Electromyography, Muscles, Nervous System, EMG

signal.

III
 TABLE OF CONTENTS

Chapter 1 Introduction.......................................................................................................2
1.1 Introduction.............................................................................................................2
Chapter 2 Processing on EMG..........................................................................................5
2.1 EMG SIGNAL...........................................................................................................5
2.2 ELECTRODES AND ITS CLASSIFICATION...........................................................6
2.3 SURFACE EMG (sEMG)..........................................................................................7
2.4 GESTURE SELECTION AND PLACEMENT OF ELECTRODES...........................8
2.5 SURFACE EMG SENSOR CHARACTERISTICS...................................................9
2.6 ELECTRODE SELECTION......................................................................................9
2.7 NOISE ASSOCIATED WITH SURFACE EMG SIGNALS.....................................10
2.8 NOISE IN ELECTRODE CONNECTING WIRES..................................................10
2.9 ELECTRODE LOCATION AND AMPLITUDE VARIATION...................................11
2.10 IDEAL LOCATION OF THE ELECTRODES FOR A HIGH FIDELITY
SIGNAL........................................................................................................................11
2.11 DATA ACQUISITION BOARD.............................................................................12
2.12 SIGNAL CONDITIONING....................................................................................12
Chapter 3 Processing on EMG........................................................................................18
3.1 Idea.........................................................................................................................18
3.2 Working principle....................................................................................................18
3.3 schematics..............................................................................................................21
3.4 Block Diagram........................................................................................................23
4.5 Flowchart................................................................................................................24
3.6 Problems in the project...........................................................................................25
2.7 Code.......................................................................................................................25
Chapter 4 Application on EMG........................................................................................27
4.1 Diaphragmatic EMG respiratory monitoring in neonates.......................................27
CONCLUSION.................................................................................................................33
GLOSSARY.....................................................................................................................33
Reference........................................................................................................................33

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Appendix A (IN118)......................................................................................................34
Appendix B (LF351)......................................................................................................35
Appendix C (Pic16F819)..............................................................................................36
Appendix D (TL074).....................................................................................................37
Appendix E (PIC16F876).............................................................................................38

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 LIST OF FIGURES

Figure Page

VI
 LIST OF TABLES

Table Page

VII
 Chapter 1
Introduction and LITERATURE
REVIEW

1
Chapter 1 Introduction
1.1 Introduction
Biomedical signal means a collective electrical signal acquired from any
organ that represents a physical variable of interest. This signal is normally a
function of time and is describable in terms of its amplitude, frequency and
phase. The EMG signal is a biomedical signal that measures electrical currents
generated in muscles during its contraction representing neuromuscular
activities.

Additionally, in order to simplify the building process of kinematics

equations, the arm is treated as open-chained. A D-H 1 parameters is used to
establish the forward kinematic equations; also, inverse kinematic equations
were also used. The calculative software of the robot arm’s kinematic model is
designed and established. In addition, the workspace of the arm was also
studied. Moreover, the mechanical design also established by using CAD 2
software. As well, stress, strain and displacement are simulated by using CAD
simulation. After that, motors and microcontroller are selected, also searching on
appropriate drivers, materials and components are done and chosen. Next step,
manufacturing process of all parts is finished with assembly and painting
process. Finally, testing and validation of the code on the Palletizing robot are
done.

1.2 Objective
The aim of this project is to build palletizing robot arm by applying robotic
concepts. Furthermore, this project contains three motors,

1.3 Literature Review

Next step, manufacturing process of all parts is finished with assembly
and painting process. Finally, testing and validation of the code on the Palletizing
robot are done.

1
D-H - Denavit-Hartenberg
2
CAD - Computer Aided Design

2
 Chapter 2
Instruments and components

3
Chapter 2 LITERATURE REVIEW
2.1 Instruments
The EMG signal is a small electrical current that is generated when a
muscle is contracted. Since the EMG signal levels are too low to be directly
captured by the computer, it is required to amplify the signal to a TTL level (which
ranges between -5 volts and +5 volts). With the properly amplified EMG signal,
the computer can read and store the data in a file format or to use EMG readings
in real time. The amplifier that is employed in the reading and recording of EMG
signals must be specifically designed to read biological electrical signals.
Consequently, many critical factors must be considered. For example, noise and
artifact problems could distort the signal. Additional DC current could also add
offset to the EMG signal. Providing an adequate ground reference is also an
important problem. Finally, because the equipment will be attached to the
forearm during the EMG recording, the size of the device should also be taken
into consideration. The measurement of the electrical activity of the muscle is the
result of a signal generated in the brain which is transmitted through the nervous
system to the motor neuron attached to the muscle fibers in the muscle.
2.2 History of Industrial Robots
The motor neurons resulting in a depolarization/repolarization wave
throughout the muscle fiber. This wave creates an action potential in the muscle
fibers resulting in the movement of electrical charges. This electrical activity
produces an electrical signal in the muscle which can be picked up by well-
placed electrodes on the surface of the skin. The acquired signal is EMG signal.
[1]

4
Chapter 3
Experiment

5
Chapter 3 Mathematical Model
3.1 Introduction
Myoelectric signals (EMG) are produced during muscle contraction when
ions flow in and out of muscle cells. Typical EMG signal has the following
characteristics:
3.2 Preparation

6
 Chapter 4
Conclusion and Future
Work

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Chapter 4 Conclusion and Future Work CONCLUSION AND
4
4.1 Conclusion
In this project, many things were completed starting by simple explanation
of the problem that will be solved. Moreover, the objectives of the whole project
were demonstrated with requirements and well thought time plan. On the other
hand, the searching step is implemented to get familiar with palletizing robot and
to bring the proper way to apply this project as prototype, trying to gather the best
solutions to deal with the problem by divided it into sub problems. As known, a
brief history is presented to get a little sense about the idea; also, pros and cons
of palletizing robots are shown. Besides, to deep the knowledge, an applications
of industrial robot arm are demonstrated. After that, kinematics equations are
solved and verified mathematically. In addition, motors’ torque was calculated to
use it for the design and later work.

4.2 Further Work

There are many applications and control methods can be used and
applied in this robot with some Improvements on the project.

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 Appendix A
Appendix Table A : Some trigonometric equations and solutions used in inverse kinematics

Equations Solutions
a sin θ+b cos θ=c θ=A tan 2(a , b)∓ A tan 2( √ a2 +b2 −c 2 , c )
a sin θ+b cos θ=0 θ=A tan 2(−b , a) or θ=A tan 2(b ,−a)

cos θ=a and sin θ=b θ=A tan 2(b , a)

cos θ=a θ=A tan 2(∓ √ 1−a 2 , a)
2
sin θ=a θ=A tan 2(a , ∓ √ 1−a )

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BIBLIOGRAPHY

10
1
[] United states department of labor website,
https://www.osha.gov/dts/osta/otm/otm_iv/otm_iv_4.html#app_iv:4_1, date access: 29-Jan-2017.
[2] J. Lenar i , T. Bajd and M. Stani i , Robot Mechanisms. Dordrecht: Springer,2013
[3] Tsai, Du-Ming, Ph.D., Modeling and analysis of three-dimensional robotic palletizing systems for mixed carton
sizes, 1987, U.M.I, 300 North Zeeb Road, Ann Arbor. Ml 48106-1346 USA, e-book.
[4] Robot works website, https://www.robots.com/blog/viewing/advantages-and-disadvantages-of-automating-
with-industrial-robots, date access: 1-Feb-2017.