Figure 4

Representative experimental data. (A) the contra-lateral case. The 3 measured joint angles of the right arm (intact side) of subject A6 are reported as gray solid lines, and the corresponding estimated angles are indicated against the measured ones, in black dashed lines. Below are the 7-channel raw EMG from the subject’s left arm (amputated side), from which the estimated angles of the intact side were obtained. (B) the ipsi-lateral case. The same measured joint angles as the ones in panel A. The estimated joint angles in black dashed lines were obtained by the EMG from the right arm (intact side). The signals shown are from one portion (contraction 10) of the testing set from one fold of the five-fold cross-validation.