The estimation of on-off timing of human skeletal muscles during movement is an important issue in surface electromyography (EMG) signal processing with relevant clinical applications. In this paper, a novel approach to address this issue is proposed. The method is based on the identification of single motor unit action potentials from the surface EMG signal with the use of the continuous wavelet transform. A manifestation variable is computed as the maximum of the outputs of a bank of matched filters at different scales. A threshold is applied to the manifestation variable to detect EMG activity. A model, based on the physical structure of the muscle, is used to test the proposed technique on synthetic signals with known features. The resultant bias of the onset estimate is lower than 40 ms and the standard deviation lower than 30 ms in case of additive colored Gaussian noise with signal-to-noise ratio as low as 2 dB. Comparison with previously developed methods was performed, and representative applications to experimental signals are presented. The method is designed for a complete real-time implementation and, thus, may be applied in clinical routine activity.