Figure 7
From: Electromyogram synergy control of a dexterous artificial hand to unscrew and screw objects
Sinusoidal synergy controller: threshold method example data. Comparison of Shadow Hand (SH) joint angles and two sample trials of CyberGlove (CG) data (Figure 1(a)), while the synergy controller is being operated by subject A3 using the Threshold mapping method. Once the recorded input E is above the deadband threshold γ, the input ωE T begins to increment, driving the Shadow Hand. The time vectors and amplitudes of the CyberGlove data have been normalized for illustrative purposes. Note the similarity between the Shadow Hand and CyberGlove joint angles.