Figure 5.

Prediction accuracy (nRMSE) obtained by FSR (A) and sEMG (B) for each degree of freedom considered, during the high-forces experiment (stimulus at 80% of the maximum voluntary contractions); the system was trained on the first repetition; the graph shows the error obtained while testing on repetitions #2, #3, #4, and #5. The FFLS data are used as ground truth.