Experimental setup. Top) Picture of the experimental setup. Bottom) Schematic diagram of the experimental setup. The forearm of the participants was securely strapped to a rigid structure using a padded brace around the styloid processes. The EMG electrodes were placed at the biceps and triceps muscles. The resulting forces from the biceps and triceps activation where measured with a 1DOF force sensor located at the wrist. The joystick was located in front of the subject.