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FreeEMG device - configuration files

Here we store YARP configuration files to use the FreeEMG wearable device.

Publish data

The yarprobotinterface configuration file freeEmg opens the wearable device and publishes the data on a YARP port as a WearableData messages.

List of overridable parameters when launching yarprobotinterface:

Param name Description Required Example/default
period Device frequency in seconds ❌ 0.01
COM-ports List of BMs COM ports ✔️ (26)
labelList List of probe labels to expose. Must have the same size as sensorNames ✔️ (1 2)
sensorNames List of the names associated to the probes. Must have the same size as labelList ✔️ (r_tib_lat r_gastro_med)
useCustomProfile Flag to set a custom sensor dictionary. If set to true, the parameter profile must be added (see file for an example) ✔️ false
dataPortName Name of the YARP port where data is published ❌ /FreeEmg/WearableData/data:o

To run the configuration:

yarprobotinterface --config freeemg.xml

Log or stream analog data

The yarprobotinterface configuration file freeemg_logger allows for two purposes:

  1. Log the data as a .mat file
  2. Stream the data as analog values

⚠️ This configuration file requires the data to being already streamed on a YARP port (e.g. using the provided configuration file).

List of overridable parameters when launching yarprobotinterface:

Param name Description Required Example/default
period Log/stream frequency ❌ 0.01
wearableDataPorts YARP port(s) where data is being streamed ❌ /FreeEmg/WearableData/data:o
loggerType matlab if you want to log the data, yarp if you want to stream it ❌ (matlab)
experimentName Prefix of the file(s) created by the logger ❌ wearable_data

⚠️ The logger will create the file(s) in the working directory where the process using the file is running.

In streaming mode, the process will create one YARP port per sensor (probe) with the format /FreeEmg/emg/<sensor_name>, where the sensor names are the one configured in the wearable device via the sensorNames parameter.

To run the logger:

yarprobotinterface --config freeemg_logger.xml

Visualize EMG signals

The file freeemg_scope is a yarpscope configuration file for visualizing the EMG signals streamed by the device.

In order to run the device, the values must be streamed in analog ports like the ones provided by the related configuration file.