Fig. 2

Experimental task. The participants performed eight gestures in three wrist positions: a The three wrist positions (full pronation, neutral, full supination). b Eight gestures (from left to right and top to bottom: power grasp, one-finger pinch, two-fingers pinch, lateral grasp, three-fingers pinch, index pointing, hand open and rest). Each gesture was performed in all wrist positions at two muscle contraction levels