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. Author manuscript; available in PMC: 2015 Jul 14.
Published in final edited form as: IEEE Trans Neural Syst Rehabil Eng. 2014 Jan 21;22(4):828–836. doi: 10.1109/TNSRE.2014.2301234

Fig. 2.

Fig. 2

Posture matching experiment representative trial. Recorded EMG signals (in black—left Y axis) and actual position of the DoF in the robotic hand (in blue—right Y axis) for the four DoFs, in a representative posture (i.e., posture P3—a palmar grasp). Superimposed on the position trajectories is the desired target position (continuous horizontal line) within the ±15% envelope (dotted horizontal lines). Gray time window (the same for all four graphs) denotes when the four DoFs were positioned within the ±15% envelope; thus time metric Tc is by definition at the end of such a gray window.