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Hybrid sEMG, NIRS and MMG Sensor System

Mian Wang Weichao Guo
Xuecong Ding
State Key Laboratory of Mechanical State Key Laboratory of Mechanical
State Key Laboratory of Mechanical
System and Vibrationˈ System and Vibrationˈ
System and Vibrationˈ
Shanghai Jiao Tong University Shanghai Jiao Tong University
Shanghai Jiao Tong University
Shanghai, China Shanghai, China
Shanghai, China
wangmian@sjtu.edu.cn guoweichao90@gmail.com
isywend@sjtu.edu.cn
Xiangyang Zhu
Xinjun Sheng
State Key Laboratory of Mechanical
State Key Laboratory of Mechanical
System and Vibrationˈ
System and Vibrationˈ
Shanghai Jiao Tong University
Shanghai Jiao Tong University
Shanghai, China
Shanghai, China
mexyzhu@sjtu.edu.cn
xjsheng@sjtu.edu.cn

Abstract—In recent years, surface electromyography
(sEMG) is widely used in human-computer interface (HCI).
For example, it is used for prosthetic manipulation to improve
the quality of amputees’ life. However, sEMG approaches has
some drawbacks such as poor robustness of the electrode-skin
interface. Near-infrared spectroscopy (NIRS) and
mechanomyography (MMG) can also monitor muscle motion.
Comparing with approaches that only use sEMG signal, hybrid
sEMG, NIRS and MMG sensor system will have better system
performance. Investigations about the fusion of sEMG, NIRS
and MMG are scant. This paper presents a hybrid sEMG,
NIRS and MMG sensor system and puts it into practice. Fuse
surface electromyography, near-infrared spectroscopy and
mechanomyography acquisition circuits into a compact sensor,
which can measure the muscle motion from the modalities of
electrophysiology, optics and acoustics. Using the hybrid sensor
system, incremental grip force experiment is carried out to
explore the relationship between the three signals, blood
oxygen metabolism and grip force. And muscle fatigue is
carried out in order to explain the phenomenon of muscle
fatigue from the perspective of electrophysiology, blood oxygen
metabolism and mechanomyography.
Keywords—Hybrid Sensor, Mechanomyography, Surface
Electromyography, Near-infrared Spectroscopy
I. INTRODUCTION
With the development of technology, many researchers
are trying to identify human motion intention through
physiological signals such as sEMG and use them to control
the movement of prosthetic hand. Surface electromyography
is the most practical and feasible signal source under current
technology because of its convenient measurement and
relatively high signal-to-noise ratio. Nevertheless, sEMG
also has problems such as weak intensity and susceptible
crosstalk [1].
Many related researches have been carried out to
combine NIRS or MMG with sEMG to form a hybrid
acquisition system to make up for the shortcomings of
sEMG. The team of Klaus Buchenriede in Germany fuses the
NIRS with sEMG to develop a hybrid sensor for prosthetic
manipulation and shows that the combination of sEMG and
NIRS provides better classification results and improve the
spatial resolution of the device [2]. J Taelman focuses on the
study of muscle fatigue parameters derived from sEMG and
NIRS, and he draws such a conclusion that both sEMG and
NIRS give complementary information concerning muscle
fatigue [3]. P. Madeleine and his colleagues are working on
This work is supported in part by the National Natural Science
Foundation of China (Grant No. 91748119), and the Science and
Technology Commission of Shanghai Municipality (Grant No.
17JC1402700).
the joint acquisition signals of MMG and sEMG to explore
the relationship between contractility and these two kinds of
signals. It is proved that complementary knowledge could be
obtained from the recordings of sEMG and mechano-
myography MMG signals [4]. P Prociow identifies hand
movements based on MMG and sEMG signals. The
experimental results demonstrate the good performance of
the fusion acquisition system in identifying movements [5].
However, there are few studies fusing three kinds of signal
sources to develop a hybrid sensor system. The integration of
the sEMG, MMG and NIRS will enable a more diverse range
of muscle activity detection to get a more comprehensive
understanding of muscle movement.
II. MEASURING PRINCIPLE
A. Related Physiological Phenomena of Muscle
Contraction
Human motion is controlled by the nervous system.
Motion intention arises from the motor cortex of the anterior
cerebral cortex [6]. It is transferred to motor neuron in the
form of an electrical or chemical activity. The motor neurons
in the spinal cord can directly control the activities of skeletal
muscle. Their axons extend to the muscle fibers and connect
with muscle fibers through the endplate area. A motor
neuron can control multiple muscle fibers. They make up a
motor unit and every skeletal muscle contains a lot of motor
units [7]. Motion intention is transferred from a motor
neuron to muscle fibers. Then nerve impulses activate
muscle fibers and muscle fibers drive skeletal muscle to
contract. Therefore, electromyography signals are generated
during muscle contraction. Such electrical signals can be
collected by implanted electrodes inserted into the skin, or
surface electrodes are used to collect surface
electromyography signals on the skin surface.
It takes energy to complete muscle contraction. The
energy released by the oxidation of lipids and carbohydrates
is the ultimate energy source of muscle contraction. The
oxygen required for oxidation of lipids and carbohydrates
comes from oxygenated hemoglobin in the blood. When
human forearm muscles contract, the oxidation of free fatty
acids and glucose produces oxygen metabolism which can be
characterized by the concentration changes of oxygenated
hemoglobin and deoxyhemoglobin. Traditional blood oxygen
monitoring requires blood sampling first and then using
blood gas analyzer for electrochemical analysis. Near
infrared spectroscopy is a more convenient and efficient way
to detect blood oxygen metabolism.

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There are some low-frequency vibrations or sound
signals when skeletal muscles contract [8]. And the
mechanical vibration can cause a 500 nanometer-long
displacement on the surface of skin [9]. High sensitivity
microphone, micro accelerometer, piezoelectric contact
sensor and laser range sensor are usually used to monitor the
vibration characteristics of muscle contraction [10-11].
B. Measuring Principle of sEMG, NIRS and MMG
1) sEMG: The conduction of nerve impulse leads to the
transmembrane flow of positive ions (especially potassium
ions and sodium ions) on the both membrane sides. It
changes the potential difference between the two sides of the
cell membrane [12]. The above theory shows that the
conduction process of nerve impulses forms current fields.
Because muscles and skin tissues are good conductors,
potential difference can be detected by surface electrode
placed in the current field, which is called surface
electromyography.
2) NIRS: It is a common phenomenon that absorption,
scattering and reflection will happen when the near-infrared
light goes through muscle tissues. For the near-infrared light
whose wavelength is between 650 and 1000nm, muscle
tissues are relatively transparent [13]. That means the
absorption effect is weak. There are two kinds of absorption
sources for near-infrared light in muscle tissues. The first
kind of absorption sources has an almost fixed concentration.
These substances include water, melanin, bilirubin and so on.
Oppositely, concentrations of the other one kind of
absorption sources will have an obvious change when
muscles are in movement state [14]. Oxyhemoglobin ( ) rejection ratio is further improved by using programmable
and deoxyhemoglobin (HHb) belong to the second kind [15].
Therefore, the absorption intensity of near-infrared light
changes with the muscle movement. Because the total
intensity of light remains constant, the near-infrared light
emitted by a near-infrared illuminant will have different
scattering intensity when the muscle tissues are in different
states, and this intensity can be detected by a photoelectric
detector. Place a near-infrared illuminant and a photoelectric
detector on the surface of skeletal muscles to detect the
change of near-infrared light intensity. Then use modied
Beer-Lambert law (MBLL) to calculate the change of the
concentrations of oxyhemoglobin and deoxyhemoglobin [16-
17]. The information of blood oxygen metabolism in the
muscles and muscle movement can be obtained.
3) MMG: There are three kinds of vibrations usually
used to analyze the information of muscle movement. At
first, because muscle fiber controlled by a motor unit may be
activated at different times when a muscle begins to contract,
a transverse comprehensive vibration will be produced.
What’s more, in the process of continuous muscle
contraction, a micro vibration will be produced, which is
decided by the resonance frequency of muscle fibers. The
third one is the size change controlled by the motor unit [18].
High sensitivity microphone can detect the three kinds of
vibrations above well without contacting the skin.
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III. ELECTRICAL DESIGN OF THE SYSTEM
A. Signal Conditioning Module
Various kinds of noise such as ambient noise (power
frequency noise), baseline noise (electrochemical noise at
skin-electrode interface and thermal noise produced by
Semiconductor elements) and physiological noise are mixed
in the raw signals. The functions of signal conditioning
module are filtering noise signals and amplifying useful
signals to get signals that can be further processed in the next
module.
1) Signal Conditioning Module of sEMG and MMG:
Signal Conditioning Module of sEMG is composed of a
differential amplifier, a high pass filter, an operational
amplifier and a low pass filter. Differential amplifier can
significantly reduce interference signals, amplify differential
mode signals and suppress common mode signals. After
passing through it, the common mode rejection ratio and
signal-to-noise ratio of signals will increase. Instrument
amplifier INA326 produced by TI is chosen in this system
because of its high common mode rejection ratio. High pass
filter is used to filter low frequency noise, including low
frequency motion artifact and noise produced by the contact
of skin and electrode. Operational amplifier is used to
achieve two-stage amplification of signals because the
amplitude of sEMG signal is very small and it is not enough
if only one-stage amplifier is set. AD8603, a rail to rail
operational amplifier produced by Analog Devices is chosen
in this system. It has the advantages of low noise, low power
consumption and high precision. And the common mode
reverse phase amplification. Last but not the least, low pass
filter can filter high frequency noise.
Signal conditioning module of MMG is roughly the same
as the one of sEMG. But considering the characteristics of
MMG signal, the passband range of the filter is from 5 to
300Hz in signal conditioning module of MMG.
2) Signal Conditioning Module of NIRS: Signal
conditioning module of NIRS consists of a near-infrared
light source, a constant current driver, a photoelectric
detector and a low pass filter, which can detect near-infrared
signal and complete signal conditioning. A near-infrared
LED produced by Epitex Inc is used to be the near-infrared
light source. Twelve LED chips are integrated with an AIN
radiator base and three kinds of near-infrared light with
different wavelengths can be emitted by this near-infrared
light source. The three near-infrared wavelengths are 730nm,
805nm and 850nm respectively. Because the long-time
luminescence will generate heat, in order to avoid prolonged
exposure to it and injury to the skin, the LED emits light in
the form of pulse. The pulse frequency is issued by four ports
of DCK/DAI/LAT/EN, and the four ports are controlled by
MCU in the signal processing module. DM11A is chosen to
be the constant current driver, which can drive the near-
infrared light source. Photoelectric detector is used to detect
the near-infrared light going through the muscle tissues.
OPT101 produced by TI is chosen to undertake this task. It is
an integrated photodiode containing a mutual impedance
amplifier, and there is a linear relationship between the
 WK,QWHUQDWLRQDO&RQIHUHQFHRQ0HFKDWURQLFVDQG0DFKLQH9LVLRQLQ3UDFWLFH 09,3

output voltage and the intensity of light. Low pass filter is

used to eliminate high frequency noise from the original
NIRS signal collected by OPT101.
B. Signal Processing Module
The main function of the signal processing module is to
send instructions to control the near-infrared light source in
the signal conditioning module, convert analog signals
output by signal conditioning module into digital signals, and
transmit digital signals to the host computer. The signal
processing module includes two parts: a microcontroller unit
and the Bluetooth module.
1) Microcontroller Unit: MSP430 is selected as the
control unit to realize the two functions of controlling near-
infrared LED and analog-to-digital conversion.
a) Control of near-infrared LED: The driving control
Fig. 1. Hardware implementation of signal conditioning module: (a) PCB
of near-infrared light source needs four output signals: DAI, of signal conditioning module; (b) signal conditioning module; (c) "banana
DCK, LAT and EN. DAI is serial data input signal. Shift like" transmission channel from near-infrared light source to photodetector.
register reads the state of this pin once per clock signal. Its
electrical level state, high or low, determines the states of 2) NIRS: The detection depth of near-infrared light is
eight output pins after a driving period. If it is at the high determined by the distance between near-infrared light
electrical level, corresponding current output channel will be source and photodetector. When the distance between them
opened, or else, the channel will be closed. DCK is clock is 30mm (empirical value), near-infrared light can detect
signal for serial data input signal. DAI signal is read at the muscle activity around 15mm deep below the skin through a
rising edge of each pulse of DCK. LAT is the gating pulse "banana like" transmission channel [19] as shown in Fig.
of serial data input signal. When LAT is at high electrical 1(c). Therefore, according to the anatomical structure and
level the DAI signal stored in the shift register will be morphology of the muscles, the spacing between the near-
transmitted to the latch. Otherwise, the DAI signal is stored infrared light source and the photodetector can be any value
in the shift register. EN is the output enable signal. When it
between 20mm and 70mm. In order to meet the detection
is at low electrical level, the information stored in the latch
requirements while ensuring compact structure, the spacing
will be sent to each output port.
between near-infrared LED and photodetector is set to
b) Analog-to-digital conversion: MSP430 can carry 33.5mm.
out the analog-to-digital conversion of eight channels. The 3) MMG: High sensitivity microphone with electret
sampling resolution is 12 bits. The sampling frequency of condenser is used to detect MMG signal. The microphone is
sEMG, NIRS and MMG is 1000Hz, which is higher than fixed in a conical cavity on the shell to isolate ambient noise
twice the maximum frequency of signal and conform to the as shown in the Fig. 2(b).
Nyquist's law of sampling.
2) Bluetooth Module: Bluetooth module is connected B. Hardware Implementation of Signal Processing Module
with MSP430. It can transmit the received digital signals to The PCB of the signal processing module is shown in
the host computer. Fig. 2(a). Its size is 35mm by 55mm.

IV. HARDWARE IMPLEMENTATION OF THE SYSTEM

Bluetooth Module MSP430F149
(a)

Microphone
A. Hardware Implementation of Signal Conditioning
Module Conical Chamber

The PCB of the signal conditioning module is shown in

the Fig. 1(a). Its size is 20mm by 55mm. MMG Signals (b)
Signal
1) sEMG: The electrodes for collecting electromyo- Conditioning
graphy include two differential electrodes and one reference Module

electrode. The electrodes are made of gold plated copper be-

cause gold plated copper electrodes can form a stable
contact interface with the skin. Considering the size of Signal
Processing
electrodes and signal crosstalk, the interval distance between Module FPC

two differential electrodes is set to 17mm. Three electrodes

are arranged in the form of Fig. 1(b). Power-supply
(c) Module

Fig. 2. Hardware implementation of signal processing module: (a) PCB of

signal processing module; (b) high sensitivity microphone fixed in a
conical cavity; (c) the whole hybrid sensor system.

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As shown in the Fig. 2(c), connect the signal condition-
ing module and the processing module with FPC line.
Customized double-sided adhesive tape is used to fix the
acquisition module on the forearm.
V. EXPERIMENTS BASED ON SEMG/MMG/NIRS
A. Incremental Grip Force Experiment
1) Experimental Paradigm: Firstly, the subject sits on a
chair, measure the MVC of clenching fist by a standardized
electronic dynamometer. MVC is defined as the maximum
force that a subject can keep for 3 to 5 seconds. Calculate
the forces of 30%, 50% and 80% of MVC respectively, and
they are the three level of incremental grip force. Fix the
acquisition system on the extensor digitorum muscle of
subject. After the start of the measurement, the subject
maintains resting state for 30s as the baseline. Then the
subject increases grip force in the order of 30%, 50% and
80% of MVC. Each level of grip force is maintained for 20s,
and 30s rest is arranged between the two grip force levels to
avoid muscle fatigue. The real-time curve is displayed on
the computer screen in front of the subjects to provide visual
feedback.
2) Experimental Raw Data Results: The raw data results
are shown in Fig. 3. As is illustrated in the figure, the
intensity of the three signals when subject clenches fist is
somewhat larger than that in the resting state.
For sEMG, the intensity of the signal increases with the
increase of the grip force. For MMG, the change of grip
force has little effect on signal intensity seen from the raw
data. For NIRS, the intensity of the signal increases with the
increase of the grip force, but the increase is not very
obvious.
Raw sEMG (mV)
deoxyhemoglobin concentration drops. The greater the grip
force is, the greater concentration change of the two kinds of
hemoglobin will happen. The above phenomena can be
explained as: in the process of muscle contraction, because
oxygen consumption is greater than oxygen supply, the
saturation of oxygen is reduced. Therefore, the concentration
of oxygen hemoglobin decreases, and the concentration of
deoxyhemoglobin increases. As the increase of force will
lead to greater oxygen consumption, the concentration
change of oxygenated hemoglobin and deoxyhemoglobin is
positively correlated with force [20-21]. It shows that NIRS
part of the hybrid sensor can detect blood oxygen
metabolism well.
The phenomenon of sEMG signal intensity increases
with the increase of contractile force can be explained from
the perspective of electrophysiology. When the contractile
force increases, more muscle fiber movement units will be
raised so that the energy of the sEMG signal will increase.
The intensity of NIRS signal also increases with the
increase of contractile force, but the trend of change is not
obvious between 50% and 80% of MVC. Studies have
shown that increase of force leads to increased pressure of
muscle and vascular, so the blood flow in the blood vessels
will be limited [22]. Therefore, the near-infrared light
absorbed by human tissue chromophores is reduced, and the
intensity of near-infrared light detected by photodetector
increases. Obviously, such a change is small when the force
is great enough, so the increasing trend of the NIRS signal is
not obvious between 50% and 80% of MVC.
The normalized MMG signal shows that the intensity of
MMG signal also increases with the increase of force. From
the three kinds of MMG signals mentioned above, when the
force increases, the intensity of transverse comprehensive
vibration and micro vibration decided by the resonance
frequency will increase so the intensity of MMG will

increase.
Concentration Change (uMol/L)

20
HbO
2
HHb
Raw MMG (mV)

15

10

0
Raw NIRS (mV)

-5

-10

-15

-20
0 100 200 300 400 500 600 700 800

Fig. 3. The raw signals of sEMG, MMG and NIRS in incremental grip Time (s)
force experiment.
Normalized sEMG, NIRS and MMG Features

0.9
sEMG
NIRS
0.8 MMG

3) Experimental Data Analysis and Discussion: Two 0.7

kinds of hemoglobin concentration curves are calculated 0.6

using the modified Lambert-Beer law in Fig. 4(a), and three 0.5

kinds of raw signals are normalized so as to observe the 0.4

trend of curves in Fig. 4(b). The change trends of all four 0.3

subjects are similar, and the experimental repeatability is 0.2

good. 0.1

It can be seen from the two kinds of hemoglobin concen- 0

0 100 200 300 400 500 600 700 800

tration curves that when holding fist, the concentration of Time(s)

oxyhemoglobin decreases, and the concentration of deoxy

hemoglobin increases. After loosening the fist, the concen- Fig. 4. Hemoglobin concentration curves (a) and normalized features of
tration of oxyhemoglobin increases, and the corresponding signals (b) in incremental grip force experiment.

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B. Muscle Fatigue Experiment In Fig. 6(a), the concentration of oxygenated hemoglobin

1) Experimental Paradigm: Because signal changes first decreases rapidly, then slowly recovers, and the change
rule of deoxyhemoglobin concentration is opposite. In the
caused by force changes should be avoided, it is of vital
early stage of extensor digitorum muscle contraction, oxygen
importance for muscle fatigue experiment to hold the grip metabolism in the muscles consumes oxygen, so the
force unchanged during the whole experiment. And it is concentration of oxygenated hemoglobin decreases rapidly.
easy for a subject to keep 50% of MVC for a period of time. Then the oxygen metabolism of muscles changes to
Therefore, the force selected in this experiment is 50% of anaerobic metabolism because of insufficient oxygen supply,
MVC. Muscle fatigue is caused by the continuous so the concentration of oxygenated hemoglobin increases
contraction of muscles, so the aim of the experiment is to slowly and the concentration of deoxyhemoglobin decreases.
make short term muscle fatigue artificially by continuous Anaerobic metabolism can promote the production of
contraction of muscles. After the start of the measurement, anaerobic metabolites, such as lactic acid, and blood flow
the subject maintains resting state for 80s as the baseline. limitation leads to the accumulation of lactic acid, so the
feeling of sore can be caused by muscle fatigue.
Then keep 50% of MVC for 80s.
2) Experimental Raw Data Results: As shown in the Fig. In Fig. 6(b), the sEMG signal has a small upward trend
5, the trend of sEMG signal cannot be seen clearly from the with fluctuation, indicating that the continuous contraction of
raw data. The MMG signal is almost invariable. However, muscles causes more motor units to be raised. The MMG
the NIRS signal showes a slow downward trend in the signal is almost invariable, which indicate that the three
whole process of holding fist. kinds of vibrations or displacements are not affected by
muscle fatigue when the force remains unchanged.
Raw sEMG (mV)

VI. CONCLUSION
In this paper, a hybrid sensor system with three kinds of
Raw MMG (mV)

signal sources is proposed according to the advantages and

disadvantages of sEMG, MMG and NIRS. The electrical
design and hardware implementation are completed to put
the hybrid sensor system into practice. Using the sensor
system, two experiments are carried out. The incremental
Raw NIRS (mV)

grip experiment shows the relationship between three kinds

of signals, blood oxygen metabolism and grip force. Muscle
fatigue experiment shows the blood oxygen metabolism and
electrophysiological characteristics during extensor
Fig. 5. The raw signals of sEMG, MMG and NIRS in muscle fatigue digitorum muscle fatigue.
experiment.

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