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Robot-assisted reach trajectories and the signal sources used to generate them. Kinematics and square-root transformed root-mean-squared value (RMS) of EMG for an example reach. Subject 3 with (A) KF using EMG alone and (B) the mKFT, combining the gaze from the 0.5 s period before the reach initiation with EMG control; and Subject 6 with (C) KF using only the upper trapezius EMG and (D) mKFT.
