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This paper proposes a simple method of estimating the motor command, or the motor control signal to a muscle, from the electromyogram (EMG) recorded with a bipolar wire electrode. Value ranges of waveform parameters of typical single spikes (action potentials) are determined by examining the EMG. A digital computer transforms the EMG into a pulse train in the way that the computer assigns a pulse to the time instant when a local EMG waveform is recognized to be a spike based on the waveform parameters. Then a pulse density function is computed by using the pulse train and the pulse density functions from several movements of the same kind are averaged. It is stated that the average pulse density function gives a reasonable estimation of the motor command. The method is applied to fast ballistic movements of the human forearm and some properties of the motor command are considered from the standpoint of motor control.

A Method of Estimating Motor Commands from Electromyogram and Its Application to Fast Forearm Movements