Table 4.

Comparison of joint torque estimation for models trained with two, five, and eight SEMG channels.

Model		8 channels		5 channels		2 channels
		NRMSE	$R_a^2$	NRMSE	$R_a^2$	NRMSE	$R_a^2$
PBM	Mean	2.73%	0.85	3.07%	0.86	4.59%	0.77
	STD	0.97%	0.13	1.03%	0.11	1.32%	0.19
OLS	Mean	2.88%	0.84	3.17%	0.77	4.82%	0.63
	STD	0.94%	0.11	1.06%	0.13	1.81%	0.23
RLS	Mean	2.83%	0.82	3.11%	0.79	4.73%	0.69
	STD	0.93%	0.10	1.01	0.11	1.31%	0.18
SVM	Mean	2.85%	0.82	3.00%	0.80	4.77%	0.73
	STD	1.00%	0.09	1.04%	0.10	1.02%	0.14
ANN	Mean	2.82%	0.82	3.03%	0.81	4.74%	0.69
	STD	0.95%	0.09	1.05%	0.12	1.17%	0.18
LWPR	Mean	3.03%	0.75	3.19%	0.78	4.97%	0.69
	STD	1.14%	0.21	1.19%	0.13	1.31%	0.21