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. 2019 Dec 30;16:162. doi: 10.1186/s12984-019-0633-6

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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. 3 — Control mode change of the device according to sEMG signal. a Raw and RMS sEMG signal in each situation. Note that the sEMG of usual muscle movements, such as picking up objects and bringing them to oneself, rarely exceeds the preset value (for example, 80% of the maximal RMS value). Therefore, the orthosis was not activated in such contraction level. b When the RMS value of the sEMG signal exceeds the threshold value, the myoelectric orthosis activates and the hand is closed by the exoskeleton. If the signal exceeds the threshold again, then the orthosis turns back and the hand opens