Figure 1. Experimental setup and protocol.

(A) Wearable detection system consisting of a grid of 112 silver circular electrodes (14×8, diameter: 6 mm, inter-electrode distance: 15 mm) integrated into a stretchable textile sleeve with the 14 columns of electrodes placed around the forearm circumference. (B) Approximate position of the electrode matrix on the forearm. (C) Sensorized hand and forearm. The subjects had worn the sEMG textile detection system with the first column of electrodes in correspondence of the ulna and with the more proximal electrodes at approximately 2 cm from the elbow crease. A sensorized hand glove was used to record the kinematics of the hand and of the fingers. (D) The protocol consisted in 12 different cyclic dynamic tasks involving the wrist and index, middle, ring, and little fingers (see text for details). E) One example of wrist flexion/extension with the hand in prone position.