IEEE Robotics & Automation Magazine - December 2022 - 14

Considering that the sampling rates of the sEMG, ultrasound,
and force signals are 1,000, 100, and 1,000 Hz, respectively,
the data-alignment scheme is determined accordingly and
presented in Figure 5.
T8
T3
The hand force at time t is scalar (red bar in Figure 5). The
noise interference is eliminated by filtering the force using an
eight-order low-pass filter, reserving the bandwidth signals
below 50 Hz, and is normalized to a range from 0 to 1.
Guide Rail
Force-Bearing Link
Sliding Block
T1
T2
Link for Hand
Grasping
Bracing Link
Force
Sensor
Symmetric
Centerline
Defined Flange
(a)
(b)
Signal Wire
Ch8
Ch1
Ch2
Ch7
BR
FDS
Near the Hand
FDP
APL
Ulna
Near the
Upper Arm
ECU
sEMG Device
Ch6
Ch5
Ch4
(c)
Figure 4. The structure of the self-designed ultrasound armband and the hand-force-measurement device. (a) The positions in which
the ultrasound and sEMG armbands were placed; (b) the structure of the force-measurement device, which is a symmetrical structure
(the red dot dashed line is the symmetric line); and (c) details of the self-designed ultrasound armband. APL: abductor pollicis
longus; BR: brachoiradialis; Ch: channel; ECRB: extensor carpiradialis brevis; ECRL: extensor carpiradialis longus; ECU: extensor carpi
ulnaris; EDC: extensor digitorum communis; FCR: flexor carpiradialis; FCU: flexor carpi ulnaris; FDP: flexor digitorum profundus; FDS:
flexor digitorum superficialis; FPL: flexor pollicis longus; PL: palmaris longus; PT: pronator teres.
14 * IEEE ROBOTICS & AUTOMATION MAGAZINE * DECEMBER 2022
Ch3
Cover Plate
Posterior
Preloaded Spring
Transducer
Bracket for Transducer
Elastic-Woven Material
Anterior
Anterior
FCU
Posterior
ECRL
ECRB
Radius
EDC
FPL
PLT
FCR
PL

IEEE Robotics & Automation Magazine - December 2022

Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - December 2022

Contents
IEEE Robotics & Automation Magazine - December 2022 - Cover1
IEEE Robotics & Automation Magazine - December 2022 - Cover2
IEEE Robotics & Automation Magazine - December 2022 - Contents
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IEEE Robotics & Automation Magazine - December 2022 - Cover3
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