Fig. 6

The percentage of reduction in DOFs (a) and EMGs (b) in all subjects. The individual percentage of reduction (PR) of each DOF (EMG) was calculated from: \( PR={\frac{\sum_1^n{P}_p-\sum_1^n{P}_s}{\sum_1^n{P}_p}}^{\mathrm{x}}100\% \). The PR of each DOF (EMG) shown in this figure as a bar (error bar: standard deviation) was averaged from the individual PR across 8 subjects. The total average PR bars across all DOFs (EMGs) and subjects were in orange