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. 2020 Sep 17;11:4683. doi: 10.1038/s41467-020-18503-8

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© The Author(s) 2020

Open Access This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as 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 images or other third party material in this article are included in the article’s Creative Commons license, unless indicated otherwise in a credit line to the material. If material is not included in the article’s Creative Commons license and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this license, visit http://creativecommons.org/licenses/by/4.0/.

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Fig. 6 — a Monitoring of the EMG signal on a forearm gripping a ball. The three balls had different moduli of 0.21, 0.27, and 0.33 GPa, respectively. b EMG signals while gripping the balls. c Variations of the EMG signal amplitude and the gripping force with the modulus of the balls. d Using EMG signals to control the motion of a robotic hand, including opening and closing. e EMG signals produced by the flexion/extension of different fingers. f EMG signal intensities produced by the five fingers.