Journal: Scientific Reports

Article Title: Control limitations in the null-space of the wrist muscle system

doi: 10.1038/s41598-024-69353-z

Figure Lengend Snippet: Experiment setup and design. ( a ) Participants were attached to an ergonomic handle mounted to a force torque sensor and were required to reach for targets using the recorded force signal and/or surface EMG recordings. ( b ) The experimental protocol for the 2 experiment sessions, where participants completed both sessions in a randomised order. A visualisation for each block is shown in ( c – f ). Depending on the block, participants controlled the position (indicated by a purple cross on the yellow cursor) and size (d)-(f) of the cursor to match different targets (shown in blue). In the NSTR ( e ), the cursor position was controlled by activation in the EMG-to-force null-space, where natural co-contraction was mapped to negative X-axis motion. In all other blocks force control was used. Possible target locations are shown in the Force/EMG calibration ( c ) and null-space target reaching blocks ( e ).

Article Snippet: The experiment was conducted using a fixed handle (Fig. a, ) attached to a 6 DoF force torque sensor (Nano SI-25, ATI Industrial Automation).

Techniques: Blocking Assay, Activation Assay, Control