Fig. 1

Experimental setup and protocol. (a). Apparatuses used for simultaneously recording thumb abduction force and HD-SEMG data. (b) Illustration of the force generation pattern with both the designed force curve (red line) and an actual recorded force curve (blue line) (c). The recorded EMG signals. (c) User interface of the software used for the online testing. There is an SEMG signal in one single channel as an example to exhibit the data stream on the top of the interface. Extracted MUSTs, measured force (red line) and predicted force (the blue line) are shown below