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. 2019 Jun 3;16:64. doi: 10.1186/s12984-019-0537-5

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© The Author(s). 2019

Open AccessThis article is distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made. The Creative Commons Public Domain Dedication waiver (http://creativecommons.org/publicdomain/zero/1.0/) applies to the data made available in this article, unless otherwise stated.

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Fig. 1 — The electromyography (EMG)-driven neuromuscular electrical stimulation (NMES)-robotic system: (a) the NMES-robotic hand consisting of a mechanical exoskeleton of the robotic hand, a pair of NMES electrodes attached to the extensor digitorum (ED) muscle, and EMG electrodes on the ED and the flexor digitorum (FD) muscles; (b) the NMES-robotic sleeve consisting of a mechanical exoskeleton of the wrist module and elbow module, two pairs of NMES electrodes attached to the extensor carpi radialis (ECR) muscle and the triceps brachii (TRI) muscle, and EMG electrodes on the ECR, flexor carpi radialis (FCR), TRI and biceps brachii (BIC) muscles