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arXiv · 2506.19815

ReactEMG: Stable, Low-Latency Intent Detection from sEMG via Masked Modeling

Runsheng Wang·Xinyue Zhu·Ava Chen·Jingxi Xu·Lauren Winterbottom·Dawn M. Nilsen·Joel Stein·Matei Ciocarlie
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Abstract

Surface electromyography (sEMG) signals show promise for effective human-machine interfaces, particularly in rehabilitation and prosthetics. However, challenges remain in developing systems that respond quickly to user intent, produce stable flicker-free output suitable for device control, and work across different subjects without time-consuming calibration. In this work, we propose a framework for EMG-based intent detection that addresses these challenges. We cast intent detection as per-timestep segmentation of continuous sEMG streams, assigning labels as gestures unfold in real time. We introduce a masked modeling training strategy that aligns muscle activations with their corresponding user intents, enabling rapid onset detection and stable tracking of ongoing gestures. In evaluations against baseline methods, using metrics that capture accuracy, latency and stability for device control, our approach achieves state-of-the-art performance in zero-shot conditions. These results demonstrate its potential for wearable robotics and next-generation prosthetic systems. Our project website, video, code, and dataset are available at: https://reactemg.github.io/

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Runsheng Wang, Xinyue Zhu, Ava Chen, Jingxi Xu, Lauren Winterbottom, Dawn M. Nilsen, Joel Stein, Matei Ciocarlie. 2025-06-24. ReactEMG: Stable, Low-Latency Intent Detection from sEMG via Masked Modeling. https://arxiv.org/abs/2506.19815

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