Figure 4

One representative subject data. 5 out of the 15 normalized finger joint angles are shown in blue solid lines, while the neural network (NN) and Gaussian Process (GP) estimated results are shown in green and red, respectively. Below the joint angle results are the 8-channel processed EMG from the subject which includes the following: rectified EMG (green), low-pass filtered EMG (blue) and the transformed muscle activations (red). In this test data, the parameters obtained for the muscle activation model were: A=-3, d=0.045, γ₁=γ₂=-0.9539. The labels on the y-axis of the plots correspond to the target EMG channels which is listed in Table 1.