Upper-Limb Muscle Synergy Features in Human-Robot Interaction with Circle-Drawing Movements

<div>The typical sEMG results of six muscles in upper limb during the HRI with circle-drawing movements. (a) The sEMG results for counterclockwise circle-drawing movements; (b) the sEMG results for clockwise movements.</div>

Applied Bionics and Biomechanics

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Figure 3

Figure 3: Upper-Limb Muscle Synergy Features in Human-Robot Interaction with Circle-Drawing Movements 