Design of a Low-Latency sEMG Real-Time Correction System Based on High CMRR and EMRMS Mathematical Modeling

Surface electromyography (sEMG) is the most practical non-invasive interface for myoelectric prostheses, exoskeletons, and rehabilitation systems, but power-line interference (PLI) contamination and excessive digital pipeline group delay still limit its clinical adoption. This paper proposes a co-designed analog-digital correction system combining a high-CMRR front-end with an exponentially-windowed RMS (EMRMS) envelope estimator and a recursive single-tone PLI canceller. We present a closed-form CMRR model capturing the electrode-skin imbalance, and provide a complete stability analysis of the LMS canceller. The EMRMS estimator reduces the computational overhead from[O] (L) to strictly[O] (1) in both time and space complexities. Featuring no data-dependent branching, the algorithm achieves deterministic algorithmic execution time (zero jitter under an RTOS environment) and is natively compatible with fixed-point arithmetic on microcontrollers lacking a hardware Floating-Point Unit (FPU). A reference implementation reaches an 8.2 {micro}s median per-sample latency, yielding an end-to-end delay of[~] 30 ms -- leaving a generous >90 ms budget for electromechanical actuation -- while requiring an active CPU duty cycle of merely 1.6%, enabling prolonged deep-sleep intervals. Validation on the public Ninapro DB2 dataset demonstrates a 13.9 dB mean SNR improvement (averaged across 12 channels; single-channel comparison: 9.7 dB, Table 3) and a 70.0 {micro}V envelope RMSE against a length-200 rectangular reference. Paired Wilcoxon signed-rank tests confirm statistical significance (p < 0.001) over static baselines, and Pearson correlation analysis ({rho} = 0.993 {+/-} 0.0002) confirms strict morphological fidelity. The full open-source codebase and benchmarks are publicly released. O_TBL View this table: org.highwire.dtl.DTLVardef@299dc5org.highwire.dtl.DTLVardef@3519a0org.highwire.dtl.DTLVardef@2586aborg.highwire.dtl.DTLVardef@1ac5610org.highwire.dtl.DTLVardef@1465c46_HPS_FORMAT_FIGEXP M_TBL O_FLOATNOTable 3:C_FLOATNO O_TABLECAPTIONQuantitative comparison on a common 60 s segment of Ninapro-like synthetic sEMG (single channel) with a 3 mV 50.3 Hz mains tone slightly drifted from the static notchs design centre at 50.0 Hz, stress-testing the adaptive corrector under a frequency mismatch. The Ninapro multi-channel aggregate (13.9 dB) reported in Section 3.4 uses mains exactly at 50 Hz (matched notch) and so achieves a higher {Delta} SNR. "MAC/sample" excludes the EMRMS square root and the pre-computed LMS sine/cosine. C_TABLECAPTION C_TBL