Figure 1.

Movement tasks. (A) Four different tasks were performed requiring precision grips of the index, middle, ring and little fingers. Note that the Rubik’s cube and small Rubik’s cube tasks were performed twice, i.e., clockwise and counterclockwise (see also Supplementary Video S1). (B) One trial comprised a sequence of grips of each of these fingers performed self-paced (except the fingertip touching whose movements were triggered every 2 s by an acoustic signal). In the image showing the rest position, the exoskeleton data glove’s joints of the index finger are exemplarily annotated (abduction sensor J0 and finger flexion sensors J1–J3).