Figure 4.

FES used to produce controlled palmar grip force during the palmar grasp task. Rectangles indicate the level and time of appearance of force targets. This segment shows three target levels, with the two extremes non-overlapping. The white trace is the force generated by the monkey, resulting from stimulation of FDS and FDP. There were four successful trials with FES (green) and one unsuccessful catch trial (blue). During the catch trial, the monkey made two unsuccessful attempts to squeeze the tube, as seen in the neural activity and EMG predictions