Figure 1

System overview. The experimental setup included the EMG acquisition module (AM, with four active electrodes placed on the user’s forearm and an acquisition board) and the software control system (CS), which ran on a laptop and was interfaced with the hand (RH) via serial port. The CS acquired and decoded the four EMG signals to generate two independent input signals; these were fed into the PCA-based algorithm that generated and sent the six motor control commands to the robotic hand.