{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,10,24]],"date-time":"2026-10-24T19:07:46Z","timestamp":1792868866298,"version":"4.5.0"},"reference-count":19,"publisher":"MDPI AG","issue":"1","license":[{"start":{"date-parts":[[2024,12,27]],"date-time":"2024-12-27T00:00:00Z","timestamp":1735257600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>As robots become increasingly integrated into human society, the importance of human\u2013machine interfaces continues to grow. This study proposes a faster and more accurate control system for myoelectric prostheses by considering the Electromechanical Delay (EMD), a key characteristic of Electromyography (EMG) signals. Previous studies have focused on systems designed for wrist movements without attempting implementation. To overcome this, we expanded the system\u2019s capability to handle more complex movements, such as those of fingers, by replacing the existing four-channel wired EMG sensor with an eight-channel wireless EMG sensor. This replacement improved the number of channels and user convenience. Additionally, we analyzed the communication delay introduced by this change and validated the feasibility of utilizing EMD. Furthermore, to address the limitations of the SISO-NARX model, we proposed a MISO-NARX model. To resolve issues related to model complexity and reduced accuracy due to the increased number of EMG channels, we introduced ridge regression, improving the system identification accuracy. Finally, we applied the ZPETC+PID controller to an actual servo motor and verified its performance. The results showed that the system reached the target value approximately 0.240 s faster than the response time of 0.428 s without the controller. This study significantly enhances the responsiveness and accuracy of myoelectric prostheses and is expected to contribute to the development of practical devices in the future.<\/jats:p>","DOI":"10.3390\/s25010113","type":"journal-article","created":{"date-parts":[[2024,12,31]],"date-time":"2024-12-31T04:10:23Z","timestamp":1735618223000},"page":"113","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":6,"title":["Highly Responsive Robotic Prosthetic Hand Control Considering Electrodynamic Delay"],"prefix":"10.3390","volume":"25","author":[{"ORCID":"https:\/\/orcid.org\/0009-0002-7850-763X","authenticated-orcid":false,"given":"Jiwoong","family":"Won","sequence":"first","affiliation":[{"name":"Department of Robotics and Mechatronics, Tokyo Denki University, Tokyo 120-8551, Japan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0007-4474-7076","authenticated-orcid":false,"given":"Masami","family":"Iwase","sequence":"additional","affiliation":[{"name":"Department of Robotics and Mechatronics, Tokyo Denki University, Tokyo 120-8551, Japan"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2024,12,27]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Raschke, S.U. (2022). Limb Prostheses: Industry 1.0 to 4.0: Perspectives on Technological Advances in Prosthetic Care. Front. Rehabil. Sci., 3.","DOI":"10.3389\/fresc.2022.854404"},{"key":"ref_2","unstructured":"Ottobock (2022, July 14). Introduction to Prosthetics: Rehabilitation. Available online: https:\/\/www.ottobock.com\/en-us\/what-to-know-about-prosthetic-devices?utm_campaign=Marketing_Slider_2023&utm_source=What%20to%20Know%20About%20Prosthetic%20Devices&utm_medium=NGW."},{"key":"ref_3","unstructured":"Ottobock (2022, July 14). MyoBock Myoelectric Prostheses for Adults. Available online: https:\/\/www.ottobock.com\/en-gb\/myoelectric-prosthetics."},{"key":"ref_4","first-page":"161829","article-title":"Hand Gesture Recognit. Convolution Neural Networks","volume":"8","author":"Singh","year":"2020","journal-title":"IEEE Access"},{"key":"ref_5","first-page":"162373","article-title":"Parallel Multi-Scale CNN-Based Gesture Recognit. Algorithm EMG Signals","volume":"10","author":"Zhang","year":"2022","journal-title":"IEEE Access"},{"key":"ref_6","first-page":"767","article-title":"Effects of Signal Latency on Human Performance in Teleoperations","volume":"Volume 319","author":"Ahram","year":"2022","journal-title":"Human Interaction, Emerging Technologies and Future Systems V. IHIET 2021"},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"767","DOI":"10.7210\/jrsj.30.767","article-title":"Development of a Zero Phase Error Tracking Human-Machine Interface Using Electromechanical Delay from EMG Signals","volume":"30","author":"Hayashi","year":"2012","journal-title":"J. Robot. Soc. Jpn."},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"1037","DOI":"10.1109\/TMRB.2023.3320260","article-title":"On the Decoding of Shoulder Joint Intent of Motion from Transient EMG: Feature Evaluation and Classification","volume":"5","author":"Tigrini","year":"2023","journal-title":"IEEE Trans. Med. Robot. Bionics"},{"key":"ref_9","first-page":"3558","article-title":"Light-GBM Based Signal Correction Method for Surface Myoelectropotential Measured by Multi-Channel Band-Type EMG Sensor","volume":"56","author":"Nakamura","year":"2023","journal-title":"IFAC Pap."},{"key":"ref_10","doi-asserted-by":"crossref","unstructured":"Gaetani, F., Zappatore, G.A., Visconti, P., and Primiceri, P. (2018, January 4\u20136). Design of an Arduino-Based Platform Interfaced by Bluetooth Low Energy with Myo Armband for Controlling an Under-Actuated Transradial Prosthesis. Proceedings of the IEEE International Conference on ICICDT 2018, Otranto, Italy.","DOI":"10.1109\/ICICDT.2018.8399787"},{"key":"ref_11","doi-asserted-by":"crossref","unstructured":"Yakob, M.Y., Baharuddin, M.Z., Khairudin, A.R.M., and Karim, M.H.B.A. (2021, January 26). Telecontrol of Prosthetic Robot Hand Using Myo Armband. Proceedings of the IEEE International Conference on Automatic Control and Intelligent Systems (I2CACIS 2021), Shah Alam, Malaysia.","DOI":"10.1109\/I2CACIS52118.2021.9495919"},{"key":"ref_12","first-page":"66","article-title":"Ridge Regression: Biased Estimation for Nonorthogonal Problems","volume":"12","author":"Hoerl","year":"1970","journal-title":"Technometrics"},{"key":"ref_13","unstructured":"GWS (2024, December 04). Micro Servo Series. Available online: https:\/\/www.gws.com.tw\/english\/product\/servo\/micro.htm."},{"key":"ref_14","first-page":"1","article-title":"Technical Features and Functionalities of Myo Armband: An Overview on Related Literature and Advanced Applications of Myoelectric Armbands Mainly Focused on Arm Prostheses","volume":"11","author":"Visconti","year":"2018","journal-title":"Int. J. Smart Sens. Intell. Syst."},{"key":"ref_15","doi-asserted-by":"crossref","unstructured":"Windhorst, U., and Johansson, H. (1999). Acquisition, Processing and Analysis of the Surface Electromyogram. Modern Techniques in Neuroscience Research, Springer.","DOI":"10.1007\/978-3-642-58552-4"},{"key":"ref_16","doi-asserted-by":"crossref","unstructured":"Yang, K., Xu, M., Yang, X., Yang, R., and Chen, Y. (2021). A Novel EMG-Based Hand Gesture Recognition Framework Based on Multivariate Variational Mode Decomposition. Sensors, 21.","DOI":"10.3390\/s21217002"},{"key":"ref_17","unstructured":"Biometrics Ltd. (2024, October 20). Advanced Electronic Goniometers for Joint ROM. Available online: https:\/\/www.biometricsltd.com\/goniometer.htm."},{"key":"ref_18","unstructured":"Biometrics Ltd. (2019). K800 Operating Manual, Biometrics Ltd."},{"key":"ref_19","unstructured":"Biometrics Ltd. (2024, October 20). K800 Amplifier. Available online: https:\/\/www.biometricsltd.com\/amplifier.htm."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/25\/1\/113\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,10]],"date-time":"2025-10-10T17:01:40Z","timestamp":1760115700000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/25\/1\/113"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,12,27]]},"references-count":19,"journal-issue":{"issue":"1","published-online":{"date-parts":[[2025,1]]}},"alternative-id":["s25010113"],"URL":"https:\/\/doi.org\/10.3390\/s25010113","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2024,12,27]]}}}