This article describes some filtering methods to remove artifacts from the EMG signal envelope. Diverse EMG waveforms are studied using the Kalman filter (KF) and unbiased finite impulse response (UFIR) filter. The filters are developed in discrete-time state-space for Gauss-Markov colored measurement noise (CMN) and termed as cKF and cUFIR. It is shown that a choice of a proper CMN factor allows extracting the EMG waveform envelope with a high robustness. Extensive investigation have shown that the cKF and cUFIR filter are most efficient when the density is low of the motor unit action potential (MUAP) of the EMG and the Hilbert transform is required. Otherwise, when the envelope is well-pronounced and well-shaped with sharp edges due to a high MUAP density, the filters can be applied directly without using the Hilbert transform
