Figure 3.

Measured angular velocities, inputs of the generic model, for the healthy and amputated participants. The light-colored forms represent the projection of the solid forms on a plane for better 3D representation. The angles ϕ, θ, and ψ represent the 3 Euler angles. The angular velocities represented on the graph were fed to the RBFN-based regression algorithm either to build the inter-joint coordination model (in the case of healthy subjects' data), or to estimate online the elbow motion with the measured shoulder kinematics (with the amputee's data).