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. Author manuscript; available in PMC: 2010 Mar 23.
Published in final edited form as: Exp Brain Res. 2007 Mar 3;179(2):301–312. doi: 10.1007/s00221-006-0787-x

Table 2.

Motor commands c and average forces F (across all subjects; genders pooled) for each experimental task

Task Master
finger(s)		 n c F
Fn I 1 [ 1 0 0 0 0 0 0 0]T [ 44.8 6.63 1.40 2.34 −0.01 −1.75 −0.64 −1.01 ]T
M 1 [ 0 1 0 0 0 0 0 0] T [ 11.6 38.9 13.2 1.81 4.71 −3.62 −3.62 −1.25 ]T
R 1 [ 0 0 1 0 0 0 0 0] T [ 3.08 15.8 27.5 9.22 0.64 3.64 −4.39 −6.35 ]T
L 1 [ 0 0 0 1 0 0 0 0] T [ 2.13 5.41 15.0 24.4 −0.09 1.71 −0.55 −5.84 ]T
IMRL 4 [ 1 1 1 1 0 0 0 0] T [ 22.9 28.6 22.1 16.9 4.53 −1.45 −4.30 −6.55 ]T
(Ft)r I 1 [ 0 0 0 0 −1 0 0 0] T [ 9.37 2.71 0.77 2.25 −26.7 −5.82 −1.54 −8.01 ]T
M 1 [ 0 0 0 0 0 −1 0 0] T [ 1.91 13.4 1.78 1.47 −7.04 −25.4 −8.01 −4.67 ]T
R 1 [ 0 0 0 0 0 0 −1 0] T [ 1.13 5.82 7.15 3.48 −2.16 −14.0 −13.3 −9.69 ]T
L 1 [ 0 0 0 0 0 0 0 −1] T [ 1.34 3.09 4.14 7.97 −1.75 −7.40 −9.07 −19.5 ]T
IMRL 4 [ 0 0 0 0 −1 −1 −1 −1] T [ 9.66 6.94 4.52 5.83 −15.8 −20.9 −11.2 −16.3 ]T
(Ft)u I 1 [ 0 0 0 0 1 0 0 0] T [ 12.8 2.69 2.16 2.71 26.9 9.29 2.74 0.92 ]T
M 1 [ 0 0 0 0 0 1 0 0] T [ 5.39 9.30 4.66 2.56 11.6 19.0 6.93 2.48 ]T
R 1 [ 0 0 0 0 0 0 1 0] T [ 2.81 5.91 4.63 4.86 4.71 13.0 10.1 5.60 ]T
L 1 [ 0 0 0 0 0 0 0 1] T [ 2.14 0.97 1.73 10.0 2.77 5.03 4.59 17.1 ]T
IMRL 4 [ 0 0 0 0 1 1 1 1] T [ 12.2 8.28 3.80 10.4 19.6 16.0 8.18 9.83 ]T

Radial and ulnar deviation are denoted by (Ft)r and (Ft)u, respectively. The number of master fingers is indicated by n, and the master finger(s) force performance is highlighted for each task. The goal of the neural network is to map inputs c to outputs F by minimizing the MSE of the predictions of Eq. 6

T Transpose