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Figure 4 | BioMedical Engineering OnLine

Figure 4

From: Robust EMG sensing system based on data fusion for myoelectric control of a robotic arm

Figure 4

Outline of a Decentralized Kalman Filter. Each local filter produce estimates e m g e s t 1 ( k ) MathType@MTEF@5@5@+=feaagaart1ev2aaatCvAUfKttLearuWrP9MDH5MBPbIqV92AaeXatLxBI9gBaebbnrfifHhDYfgasaacPC6xNi=xH8viVGI8Gi=hEeeu0xXdbba9frFj0xb9qqpG0dXdb9aspeI8k8fiI+fsY=rqGqVepae9pg0db9vqaiVgFr0xfr=xfr=xc9adbaqaaeGaciGaaiaabeqaaeqabiWaaaGcbaGaemyzauMaemyBa0Maem4zaC2aaSbaaSqaaiabdwgaLjabdohaZjabdsha0naaBaaameaacqaIXaqmaeqaaaWcbeaakiabcIcaOiabdUgaRjabcMcaPaaa@3884@ (k) and e m g e s t 2 ( k ) MathType@MTEF@5@5@+=feaagaart1ev2aaatCvAUfKttLearuWrP9MDH5MBPbIqV92AaeXatLxBI9gBaebbnrfifHhDYfgasaacPC6xNi=xH8viVGI8Gi=hEeeu0xXdbba9frFj0xb9qqpG0dXdb9aspeI8k8fiI+fsY=rqGqVepae9pg0db9vqaiVgFr0xfr=xfr=xc9adbaqaaeGaciGaaiaabeqaaeqabiWaaaGcbaGaemyzauMaemyBa0Maem4zaC2aaSbaaSqaaiabdwgaLjabdohaZjabdsha0naaBaaameaacqaIYaGmaeqaaaWcbeaakiabcIcaOiabdUgaRjabcMcaPaaa@3886@ (k) based on the information available from emg1(k) and emg2(k) using the standard Kalman Filter equations. The Global Filter block fuses these estimates together to form the overall state estimate emg est (k).

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