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IS
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1693
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6930
T
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of
t
w
o
m
a
i
n
f
i
ng
e
rs
,
t
hu
m
b
a
nd
i
nd
e
x
i
n
w
hi
c
h
re
s
e
m
bl
e
a
gr
i
p
.
T
he
pros
t
he
t
i
c
h
a
nd
ba
s
e
d
o
n
pr
e
h
e
ns
i
on
ha
s
t
w
o
m
a
i
n
s
t
a
n
da
rds
of
m
o
t
i
on
(op
e
n
a
nd
c
l
os
e
)
.
In
t
h
e
d
e
ve
l
op
m
e
nt
o
f
t
he
pros
t
h
e
t
i
c
s
h
a
nd
ba
s
e
d
on
t
h
e
p
re
h
e
ns
or
m
od
e
l
,
s
om
e
m
a
nufa
c
t
ure
rs
a
dd
e
d
t
he
ot
he
r
t
hre
e
f
i
ng
e
rs
a
s
a
c
os
m
e
t
i
c
.
T
h
e
de
s
i
g
n
w
h
i
c
h
ba
s
e
d
on
p
re
h
e
ns
i
on
m
od
e
l
i
s
s
i
m
p
l
e
t
o
c
o
nt
ro
l
,
us
i
ng
a
s
t
a
nda
rd
e
l
e
c
t
roni
c
s
ys
t
e
m
a
nd
l
ow
c
os
t
t
o
b
ui
l
d
t
he
m
e
c
ha
n
i
c
a
l
how
e
ve
r
t
hi
s
t
yp
e
of
pros
t
h
e
t
i
c
s
ha
nd
h
a
s
a
l
i
m
i
t
a
t
i
on
i
n
t
he
us
a
ge
s
.
T
h
e
re
fo
re
,
s
o
m
e
s
t
udi
e
s
t
e
nd
e
d
t
o
d
e
ve
l
op
t
he
pros
t
he
t
i
c
h
a
nd
b
a
s
e
d
on
a
nt
hro
pom
orphi
c
.
Cos
m
e
t
i
c
a
l
l
y
,
t
he
a
n
t
hropo
m
or
phi
c
h
a
nd
t
e
nde
d
t
o
l
oo
k
l
i
ke
a
r
e
a
l
hu
m
a
n
ha
nd
w
h
i
c
h
c
o
ns
i
s
t
e
d
of
fi
v
e
f
i
ng
e
rs
(t
hum
b,
i
nde
x
,
m
i
dd
l
e
,
r
i
ng
,
a
nd
l
i
t
t
l
e
).
T
hi
s
t
y
pe
of
h
a
nd
c
a
n
pe
rfor
m
a
ny
c
om
pl
e
x
m
o
t
i
on
a
s
t
he
hu
m
a
n
h
a
nd
.
T
hus
,
e
a
c
h
a
rt
i
fi
c
i
a
l
fi
ng
e
r
i
s
re
qu
i
r
e
d
t
o
be
c
on
t
rol
l
e
d
i
n
di
vi
d
ua
l
l
y
us
i
ng
a
m
ot
or
(dc
or
s
e
r
vo
m
ot
or)
.
T
he
r
e
for
e
,
t
hi
s
t
yp
e
of
p
ros
t
h
e
t
i
c
ha
n
d
h
a
s
m
or
e
c
o
m
pl
e
x
i
n
t
he
e
l
e
c
t
r
oni
c
s
ys
t
e
m
a
nd
c
o
nt
ro
l
a
l
g
ori
t
hm
.
Cos
m
e
t
i
c
a
l
l
y
,
t
h
i
s
t
yp
e
of
a
rt
i
fi
c
i
a
l
h
a
nd
i
s
m
or
e
re
s
e
m
b
l
e
s
t
he
r
e
a
l
ha
nd
a
n
d
a
b
l
e
t
o
a
d
a
p
t
i
n
d
a
i
l
y
l
i
ve
a
nd
s
oc
i
a
l
a
c
t
i
v
i
t
y
t
ha
n
t
he
pre
he
ns
i
on
one
.
P
re
vi
ous
s
t
udi
e
s
de
v
e
l
o
pe
d
t
he
pros
t
h
e
t
i
c
h
a
nd
i
n
a
s
e
ns
ory
s
ys
t
e
m
[12
–
14
]
,
fo
c
us
i
ng
on
t
he
us
a
ge
of
D
C
m
ot
o
r,
a
nd
p
a
t
t
e
rn
r
e
c
ogni
t
i
o
n
for
E
M
G
s
i
gna
l
[15]
.
G
e
n
e
ra
l
l
y
,
s
om
e
re
s
e
a
r
c
h
e
rs
foc
us
e
d
on
i
nve
s
t
i
g
a
t
i
ng
t
he
t
yp
e
of
m
o
t
or
a
nd
g
e
a
r
t
r
a
ns
f
e
r,
w
hi
c
h
us
e
d
a
s
a
n
a
c
t
ua
t
o
r
of
t
he
f
i
ng
e
r,
t
o
obt
a
i
n
l
ow
pow
e
r
c
ons
u
m
p
t
i
on
a
nd
m
ore
s
p
e
e
d
.
K
a
s
i
m
e
t
a
l
.
us
e
d
D
C
m
i
c
r
o
m
o
t
or
i
n
t
h
e
d
e
ve
l
op
m
e
n
t
of
pros
t
he
t
i
c
s
h
a
nd
[
16]
be
c
a
us
e
t
he
s
i
z
e
i
s
s
m
a
l
l
,
pr
e
c
i
s
e
,
a
nd
f
i
t
t
o
b
e
pl
a
c
e
d
on
t
h
e
pros
t
h
e
t
i
c
pa
l
m
.
E
v
e
n
t
h
ough
t
h
e
y
h
a
ve
e
qui
ppe
d
w
i
t
h
pre
c
i
s
e
ge
a
r
t
ra
ns
fe
r
a
n
d
e
nc
o
de
r
,
t
he
y
r
e
por
t
e
d
t
h
a
t
t
h
e
us
a
ge
of
m
i
c
ro
dc
m
o
t
or
i
s
n
ot
t
h
e
b
e
s
t
s
ol
u
t
i
on
t
o
de
s
i
gn
a
pros
t
he
t
i
c
s
h
a
nd
be
c
a
us
e
of
t
he
he
a
vyw
e
i
gh
t
a
nd
hi
g
h
-
pow
e
r
c
o
ns
um
p
t
i
on
.
G
e
e
t
h
a
nj
a
l
i
e
t
a
l
.
prop
os
e
d
a
n
a
nt
hr
opom
orph
i
c
ha
nd
us
i
ng
a
dc
m
o
t
or
[
15]
.
By
c
onn
e
c
t
i
ng
t
he
fi
ng
e
r
t
o
t
he
s
t
ri
n
g
w
hi
c
h
c
onn
e
c
t
e
d
t
o
t
he
dc
m
ot
or
s
ha
f
t
,
t
he
dc
m
ot
or
w
a
s
a
b
l
e
t
o
pu
l
l
a
n
d
pus
h
w
i
t
h
a
c
e
rt
a
i
n
m
e
c
ha
n
i
s
m
.
T
o
m
c
z
yńs
ki
de
ve
l
ope
d
a
pros
t
he
t
i
c
h
a
nd
us
i
ng
f
i
ve
m
i
ni
a
t
u
re
dc
m
o
t
or
[1
7]
.
T
h
e
r
e
s
u
l
t
e
d
d
e
s
i
gn
c
a
pa
b
l
e
t
o
hol
d
a
n
obj
e
c
t
w
i
t
h
va
r
i
ous
s
ha
pe
s
a
nd
s
i
z
e
s
.
T
o
d
ri
v
e
t
h
e
fi
nge
r
,
a
w
orm
g
e
a
rs
w
e
re
i
ns
t
a
l
l
e
d
on
t
h
e
m
ot
or
s
h
a
f
t
,
t
hi
s
i
s
i
n
ord
e
r
t
o
hol
d
th
e
p
os
i
t
i
on
of
t
h
e
fi
n
ge
r
w
i
t
h
out
e
l
e
c
t
ron
i
c
c
ont
rol
.
H
ow
e
ve
r,
a
ny
ge
a
r
t
ra
ns
f
e
r
b
e
t
w
e
e
n
m
o
t
or
a
nd
s
h
a
ft
w
i
l
l
re
s
ul
t
i
n
a
l
os
t
pow
e
r
du
e
t
o
t
he
fr
i
c
t
i
on
r
e
s
i
s
t
a
nc
e
.
L
e
nz
i
pr
opos
e
d
a
5
-
D
O
F
of
a
nt
hropo
m
orph
i
c
p
ros
t
h
e
s
i
s
de
s
i
gn
w
h
i
c
h
fo
c
us
e
d
o
n
i
m
prov
i
ng
t
he
m
e
c
h
a
t
r
oni
c
de
s
i
gn
[
18]
.
In
t
h
e
d
e
s
i
gn
,
t
h
e
y
r
e
s
ul
t
e
d
i
n
t
he
w
e
i
g
ht
o
nl
y
1518
g
how
e
ve
r
t
he
s
t
a
l
l
c
urre
nt
for
e
a
c
h
m
ot
or
i
s
s
t
i
l
l
hi
gh
(
4500
m
A
)
a
nd
t
he
de
s
i
gn
w
a
s
n
ot
ope
n
-
s
ourc
e
.
Robus
t
,
l
i
gh
t
w
e
i
ght
,
a
nd
l
ow
pow
e
r
c
o
ns
um
p
t
i
o
n
a
re
s
t
i
l
l
t
h
e
m
a
i
n
i
s
s
ue
i
n
t
he
de
ve
l
op
m
e
n
t
of
pros
t
he
t
i
c
s
ha
nd.
A
l
ow
c
os
t
a
nd
o
pe
n
s
ou
rc
e
t
o
bui
l
d
t
he
p
ros
t
he
t
i
c
s
ha
nd
w
i
l
l
b
e
a
n
a
dd
e
d
v
a
l
ue
b
e
c
a
us
e
ot
h
e
r
re
s
e
a
rc
h
e
rs
c
a
n
i
m
prov
e
t
he
s
a
m
e
de
s
i
g
n
f
or
be
t
t
e
r
pe
rf
o
rm
a
n
c
e
.
A
s
s
t
a
t
e
d
i
n
t
he
pr
e
vi
ous
s
t
udi
e
s
t
ha
t
t
he
r
e
s
e
a
rc
h
e
rs
f
a
c
e
d
t
h
e
pr
obl
e
m
i
n
w
h
i
c
h
c
on
c
e
rn
e
d
a
bou
t
pow
e
r
c
ons
um
pt
i
on
a
nd
w
e
i
ght
.
T
he
r
e
for
e
,
a
n
e
w
a
c
t
ua
t
or
w
i
t
h
l
ow
pow
e
r
c
ons
u
m
pt
i
on
a
nd
l
i
gh
t
w
e
i
ght
w
a
s
r
e
qui
r
e
d
t
o
d
e
s
i
gn
t
h
e
pros
t
he
t
i
c
h
a
nd
.
G
e
n
e
r
a
l
l
y,
t
he
pr
e
v
i
ous
s
t
ud
i
e
s
us
e
d
s
t
a
nda
r
d
dc
m
o
t
or
w
i
t
h
a
c
i
rc
u
l
a
r
m
ot
i
on;
t
hus
,
i
t
ne
e
ds
a
g
e
a
r
t
r
a
ns
fe
r
t
o
p
e
rfor
m
a
l
i
ne
a
r
m
ot
i
on
a
nd
dri
ve
r
c
i
r
c
u
i
t
t
o
dri
ve
t
he
dc
m
ot
o
r
w
hi
c
h
re
s
u
l
t
s
i
n
l
os
t
pow
e
r
a
nd
re
qu
i
r
e
s
hi
gh
pow
e
r
c
ons
um
pt
i
on.
A
ne
w
l
i
n
e
a
r
a
c
t
ua
t
or
w
i
l
l
be
pr
opos
e
d
i
n
t
hi
s
s
t
u
dy
i
n
w
hi
c
h
t
h
e
re
i
s
no
g
e
a
r
t
r
a
ns
fe
r
ne
e
de
d
be
t
w
e
e
n
t
h
e
m
ot
o
r
a
nd
t
he
a
r
t
i
f
i
c
i
a
l
f
i
ng
e
rs
.
F
u
rt
h
e
rm
ore
,
t
h
e
d
e
vi
c
e
i
s
c
on
t
rol
l
e
d
by
pul
s
e
w
i
d
t
h
m
od
ul
a
t
i
on
(P
W
M
)
s
uc
h
a
s
a
s
e
rv
o
m
o
t
or
.
In
ord
e
r
t
o
ob
t
a
i
n
t
he
pro
d
uc
t
w
h
i
c
h
c
a
n
b
e
a
p
pl
i
e
d
by
o
t
h
e
r
re
s
e
a
r
c
he
rs
,
t
he
de
s
i
gn
o
f
a
nt
hr
opom
orph
i
c
ha
n
d
fro
m
w
a
s
s
e
l
e
c
t
e
d
from
t
he
op
e
n
-
s
ou
rc
e
of
3D
p
ri
n
t
i
ng
fro
m
O
p
e
n
Bi
on
i
c
s
L
a
bo
ra
t
ory
.
T
h
e
purp
os
e
of
t
hi
s
s
t
udy
i
s
t
o
d
e
ve
l
op
a
l
ow
c
o
s
t
a
nd
o
pe
n
-
s
ou
rc
e
a
n
t
hrop
om
or
phi
c
ha
nd
us
i
n
g
a
l
i
ne
a
r
a
c
t
u
a
t
or
us
i
ng
t
h
e
E
M
G
s
i
g
n
a
l
.
T
h
e
c
ont
r
i
bu
t
i
on
of
t
hi
s
de
s
i
gn
i
s
t
h
a
t
w
e
re
s
u
l
t
e
d
i
n
a
l
i
ght
w
e
i
g
ht
of
pros
t
he
t
i
c
s
ha
nd
w
i
t
h
l
ow
pow
e
r
c
ons
u
m
pt
i
on
,
ope
n
-
s
ourc
e
,
a
nd
l
ow
-
c
os
t
.
T
h
e
org
a
ni
z
a
t
i
o
n
of
t
h
i
s
pa
p
e
r
i
s
a
s
fol
l
ow
s
:
s
e
c
t
i
on
2
w
i
l
l
pr
e
s
e
n
t
t
h
e
pr
os
t
h
e
t
i
c
d
e
s
i
gn
w
hi
c
h
c
om
pos
e
d
o
f
t
he
3D
pr
i
nt
i
ng
proc
e
s
s
a
n
d
c
ont
ro
l
c
i
r
c
ui
t
.
S
e
c
t
i
o
n
3
p
re
s
e
nt
s
t
he
re
s
u
l
t
a
nd
di
s
c
us
s
i
on
of
t
h
i
s
s
t
udy
i
n
w
hi
c
h
c
ons
i
s
t
e
d
of
t
he
re
s
ul
t
e
d
pros
t
he
t
i
c
s
ha
nd
a
nd
t
he
E
M
G
s
i
gn
a
l
.
S
e
c
t
i
on
4
w
i
l
l
s
how
t
he
c
onc
l
us
i
o
n
of
t
h
i
s
s
t
u
dy.
2.
M
A
TER
I
A
LS
A
N
D
M
E
TH
O
D
2.
1
.
Th
e
d
e
s
i
gn
of
th
e
an
th
r
op
omo
r
p
h
i
c
h
an
d
In
t
hi
s
s
t
udy
,
t
h
e
de
s
i
gn
of
t
h
e
pros
t
he
t
i
c
s
h
a
nd
w
a
s
ba
s
e
d
on
t
h
e
a
n
t
hrop
om
or
phi
c
ha
nd.
T
h
e
re
a
l
bone
s
t
ruc
t
ure
o
f
t
he
h
a
nd
i
s
s
how
n
i
n
F
i
g
ure
1
(a
)
[19]
.
T
he
a
nt
hropo
m
orp
hi
c
ha
nd
i
s
c
o
m
pos
e
d
of
f
i
ve
f
i
ng
e
rs
(l
i
t
t
l
e
,
ri
ng,
m
i
ddl
e
,
i
nde
x
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nd
t
h
um
b
fi
n
ge
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E
a
c
h
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,
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xi
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s
[19]
.
T
h
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j
oi
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t
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t
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d
b
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t
w
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di
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t
a
l
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m
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dd
l
e
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l
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ng
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s
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a
l
l
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d
a
d
i
s
t
a
l
i
nt
e
rph
a
l
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ng
e
a
l
j
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t
(D
IP
-
J
)
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T
he
p
roxi
m
a
l
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nt
e
rph
a
l
a
nge
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l
j
oi
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t
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IP
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J
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i
s
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j
o
i
nt
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nne
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t
e
d
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e
t
w
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n
t
h
e
m
i
dd
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e
a
nd
proxi
m
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l
pha
l
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s
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e
g
m
e
n
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.
F
urt
h
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r
,
t
h
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j
oi
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t
w
h
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c
h
re
l
a
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m
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s
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l
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d
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m
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t
a
c
a
rpa
l
i
nt
e
rph
a
l
a
nge
a
l
j
oi
n
t
(M
IP
-
J
)
.
In
t
hi
s
s
t
udy
,
t
o
m
i
ni
m
i
z
e
t
he
de
s
i
gn
of
t
h
e
pros
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he
t
i
c
s
ha
n
d,
t
he
d
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s
t
a
l
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e
Evaluation Warning : The document was created with Spire.PDF for Python.
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i
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hi
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s
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20
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hus
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t
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,
w
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e
d
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ve
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ne
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In
t
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d
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gn
,
w
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p
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a
c
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d
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In
t
hi
s
pa
p
e
r
,
t
h
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pe
n
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s
o
urc
e
of
pros
t
h
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i
c
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gn
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s
obt
a
i
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f
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O
pe
n
B
i
on
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c
s
(h
t
t
ps
:
/
/
ope
n
bi
on
i
c
s
l
a
bs
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c
o
m
).
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h
e
fi
l
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c
ons
i
s
t
e
d
o
f
S
T
L
e
x
t
e
ns
i
on
w
hi
c
h
i
s
pa
l
m
a
r
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nd
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l
.
T
h
e
f
i
l
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s
c
a
n
be
op
e
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e
d
us
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a
n
ope
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-
s
ourc
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Bl
e
nd
e
r
p
rogr
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m
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l
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2.
7.
9)
.
D
i
s
t
a
l
P
ha
l
a
nge
s
M
i
ddl
e
P
ha
l
a
nge
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r
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m
a
l
P
ha
l
a
nge
s
D
I
P
J
P
I
P
J
M
I
P
J
Me
t
a
c
a
r
pa
l
P
ha
l
a
nge
s
l
i
t
t
l
e
ri
ng
m
i
dd
l
e
t
hum
b
nyl
on
0
-
2
cm
(a
)
(b)
F
i
gure
1
.
(
a
)
T
h
e
b
one
s
t
ru
c
t
ure
of
t
h
e
hum
a
n
fi
ng
e
r
w
hi
c
h
e
a
c
h
fi
n
ge
r
c
ons
i
s
t
e
d
of
d
i
s
t
a
l
,
m
i
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e
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m
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l
,
a
nd
m
e
t
a
c
a
rpa
l
p
ha
l
a
ng
e
s
,
(b)
T
he
de
s
i
gn
of
pros
t
h
e
t
i
c
ha
nd
us
i
ng
l
i
n
e
a
r
a
c
t
ua
t
or
w
hi
c
h
c
ons
i
s
t
e
d
of
fi
v
e
a
rt
i
fi
c
i
a
l
fi
ng
e
rs
a
nd
e
a
c
h
f
i
ng
e
r
i
s
c
ont
r
ol
l
e
d
by
t
h
e
l
i
n
e
a
r
a
c
t
ua
t
ors
F
or
t
he
3D
p
ri
n
t
i
ng
,
w
e
us
e
d
a
n
a
pp
l
i
c
a
t
i
on
(U
l
t
i
m
a
k
e
r
C
ura
V
e
rs
i
on
3
.
6.
0)
t
o
p
ri
n
t
t
h
e
fi
l
e
i
nt
o
t
he
3D
ob
j
e
c
t
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In
t
h
e
a
ppl
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c
a
t
i
on
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e
a
c
h
f
i
l
e
s
how
e
d
t
h
e
t
i
m
e
a
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m
a
t
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ri
a
l
s
t
ha
t
w
i
l
l
be
c
ons
u
m
e
d
by
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h
e
3D
pri
nt
e
r
.
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o
d
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s
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gn
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h
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p
a
l
m
a
r
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ors
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l
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j
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c
t
s
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p
ri
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e
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re
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173
gra
m
s
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106
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ra
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s
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s
t
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t
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s
1
3
hours
a
nd
17
m
i
n
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e
s
,
a
nd
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hours
a
nd
26
m
i
n
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e
s
f
or
pa
l
m
a
r
a
nd
dors
a
l
,
r
e
s
pe
c
t
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v
e
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y
.
I
n
t
hi
s
s
t
udy
,
t
h
e
m
a
t
e
r
i
a
l
us
e
d
t
o
pri
nt
t
he
o
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e
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t
i
s
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a
c
t
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c
a
c
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d
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L
A
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.
2.
2
.
Th
e
l
i
n
e
a
r
a
c
tu
ato
r
an
d
c
on
tr
o
l
l
e
r
c
i
r
c
u
i
ts
In
t
h
i
s
s
t
u
dy,
t
h
e
a
c
t
u
a
t
or
us
e
d
t
o
dr
i
ve
t
h
e
fi
ng
e
r
i
s
t
he
l
i
n
e
a
r
a
c
t
u
a
t
or
(A
c
t
uon
i
x
P
Q
12,
s
e
rvo
RC
s
e
ri
e
s
,
Ca
n
a
d
a
).
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w
a
s
d
i
ffe
re
n
t
from
t
he
pr
e
vi
o
us
s
t
udy,
i
n
t
he
d
e
ve
l
op
m
e
n
t
of
pros
t
h
e
t
i
c
s
h
a
nd,
w
h
i
c
h
ge
ne
r
a
l
l
y
us
e
d
dc
m
o
t
or
t
o
dri
v
e
t
he
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n
ge
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n
e
v
e
rt
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e
l
e
s
s
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n
t
hi
s
re
s
e
a
r
c
h
w
e
us
e
d
l
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n
e
a
r
a
c
t
u
a
t
or.
T
h
i
s
d
e
s
i
gn
i
s
a
m
odi
f
i
c
a
t
i
on
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t
he
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e
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o
us
d
e
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gn
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h
i
c
h
us
e
d
a
l
i
ne
a
r
a
c
t
ua
t
or
w
i
t
h
a
d
c
m
o
t
or
.
In
t
hi
s
s
t
udy
,
t
he
d
e
s
i
g
n
w
a
s
i
m
p
l
e
m
e
nt
e
d
t
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n
e
w
l
i
n
e
a
r
a
c
t
u
a
t
or
w
i
t
h
s
e
r
vo
RC
s
e
ri
e
s
;
t
hus
,
w
e
do
not
re
q
ui
r
e
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n
y
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ot
or
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ve
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ut
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n
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v
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h
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l
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n
e
a
r
a
c
t
ua
t
or
a
s
a
s
e
rvo
m
o
t
or
.
T
hi
s
l
i
n
e
a
r
a
c
t
u
a
t
or
c
ons
i
s
t
s
of
t
hre
e
p
i
ns
,
na
m
e
l
y
V
CC
(
6
vol
t
s
),
P
W
M
w
i
t
h
5
0
H
z
fr
e
que
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y
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nd
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he
on
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ul
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G
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5
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m
s
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ons
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m
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urre
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r)
i
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s
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T
a
b
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e
1
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a
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l
e
1
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he
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pe
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i
f
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h
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p
e
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c
a
t
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t
u
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1
2
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3
6
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3
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3
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N
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t
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rre
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A
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550
1900
4310
S
p
e
e
d
ra
t
i
o
(H
z
)
63
36
62
D
i
a
m
e
t
e
r
(m
m
)
15
2
1
.
2
20
H
e
i
g
h
t
(m
m
)
3
6
.
5
14
36
M
a
s
s
(g
)
15
22
50
Evaluation Warning : The document was created with Spire.PDF for Python.
IS
S
N
:
1693
-
6930
T
E
L
K
O
M
N
IK
A
T
e
l
e
c
om
m
un
Co
m
put
E
l
Con
t
rol
,
V
ol
.
18
,
N
o.
2
,
A
pri
l
2
020:
953
-
9
60
956
T
he
di
a
gra
m
b
l
oc
k
of
t
he
e
l
e
c
t
roni
c
d
e
s
i
gn
i
s
s
how
n
i
n
F
i
gure
2.
T
h
e
m
a
i
n
boa
r
d
t
o
c
on
t
rol
t
he
pros
t
h
e
t
i
c
s
ha
n
d
c
ons
i
s
t
e
d
o
f
dr
y
e
l
e
c
t
r
ode
s
w
i
t
h
bui
l
t
-
i
n
E
M
G
a
m
p
l
i
f
i
e
r
a
n
d
m
i
c
roc
ont
ro
l
l
e
r
(A
rdui
no
N
a
no)
.
T
he
dr
y
e
l
e
c
t
rod
e
i
s
a
re
us
a
b
l
e
e
l
e
c
t
rode
t
ha
t
c
a
n
be
us
e
d
w
i
t
hou
t
a
pre
-
ge
l
l
e
d.
T
he
dry
e
l
e
c
t
rode
s
c
o
m
pos
e
d
o
f
t
hre
e
ba
r
of
m
e
t
a
l
m
a
t
e
ri
a
l
.
T
he
E
M
G
s
i
g
na
l
w
a
s
re
c
ord
e
d
i
n
bi
p
ol
a
r
m
od
e
o
n
t
he
e
xt
e
ns
or
c
a
r
pi
r
a
di
a
l
i
s
l
on
gus
.
T
h
e
pl
a
c
e
m
e
n
t
of
t
he
e
l
e
c
t
rod
e
fo
l
l
ow
e
d
t
he
S
E
N
IA
M
rul
e
s
[20
]
a
n
d
t
he
l
oc
a
t
i
on
o
f
t
h
e
m
us
c
l
e
[
19]
.
T
h
e
bu
i
l
t
-
i
n
a
m
pl
i
fi
e
r
o
n
t
h
e
e
l
e
c
t
rode
w
i
l
l
g
i
ve
l
e
s
s
no
i
s
e
on
t
he
E
M
G
s
i
gn
a
l
be
c
a
us
e
o
f
t
h
e
pos
i
t
i
on
of
t
h
e
e
l
e
c
t
rode
i
s
c
l
os
e
t
o
t
h
e
m
a
i
n
a
m
pl
i
fi
e
r.
F
u
rt
h
e
r,
t
h
e
a
m
pl
i
fi
e
d
E
M
G
s
i
gn
a
l
w
a
s
di
gi
t
i
z
e
d
us
i
ng
a
bu
i
l
t
-
i
n
A
/
D
c
onv
e
rt
e
r
i
n
t
h
e
A
rdu
i
no
N
a
no
m
i
c
ro
c
ont
r
ol
l
e
r
.
In
orde
r
t
o
m
i
ni
m
i
z
e
t
he
c
i
rc
u
i
t
s
i
z
e
,
t
h
e
f
i
l
t
e
r
i
ng
pro
c
e
s
s
w
a
s
c
ondu
c
t
e
d
i
n
t
h
e
m
i
c
ro
c
on
t
rol
l
e
r
us
i
ng
a
d
i
gi
t
a
l
ba
nd
pa
s
s
f
i
l
t
e
r
.
In
a
c
c
ord
a
n
c
e
w
i
t
h
t
he
E
M
G
s
i
gn
a
l
,
t
he
s
p
e
c
i
fi
c
a
t
i
o
n
of
t
he
ba
nd
pa
s
s
fi
l
t
e
r
i
s
2
0
t
o
500
H
z
a
n
d
s
e
c
ond
-
o
rde
r
But
t
e
rw
or
t
h
[2
1]
.
A
n
ot
c
h
f
i
l
t
e
r
of
50
H
z
w
a
s
a
l
s
o
bui
l
t
i
n
t
h
e
m
i
c
roc
ont
ro
l
l
e
r
.
T
hi
s
not
c
h
fi
l
t
e
r
i
s
us
e
d
t
o
re
duc
e
t
he
e
ff
e
c
t
of
i
n
t
e
rf
e
r
e
nc
e
no
i
s
e
from
t
h
e
pow
e
r
l
i
n
e
.
Be
for
e
t
he
E
M
G
s
i
gna
l
c
a
n
be
us
e
d
a
s
a
s
i
gn
a
l
c
ont
r
ol
,
t
h
e
E
M
G
s
i
g
na
l
w
a
s
re
c
t
i
fi
e
d
a
nd
e
x
t
ra
c
t
e
d
us
i
ng
m
e
a
n
a
bs
ol
u
t
e
v
a
l
ue
(M
A
V
)
[2
2]
.
T
he
de
c
i
s
i
o
n
t
o
ope
n
a
n
d
c
l
os
e
t
h
e
pros
t
h
e
t
i
c
h
a
nd
i
s
de
p
e
nd
e
d
on
t
h
e
l
e
ve
l
of
t
he
E
M
G
c
ont
r
a
c
t
i
o
n,
w
h
e
t
h
e
r
t
h
e
E
M
G
a
m
p
l
i
t
ude
e
xc
e
e
d
e
d
t
h
e
pre
-
de
f
i
ne
d
t
hre
s
ho
l
d
va
l
ue
or
no
t
.
A
l
l
of
t
he
f
i
ve
l
i
ne
a
r
a
c
t
u
a
t
or
P
Q
12
(s
e
r
vo
s
e
ri
e
s
)
a
re
c
o
nne
c
t
e
d
t
o
t
h
e
A
r
dui
no
N
a
no
pi
n
(fi
ve
pi
ns
)
.
A
/
D
c
onv
e
rt
e
r
Ba
ndp
a
s
fi
l
t
e
r
N
ot
c
h f
i
l
t
e
r
D
ri
vi
ng
A
c
t
ua
t
or
M
i
c
roc
ont
rol
l
e
r
D
ry e
l
e
c
t
rode
s
&
E
M
G
a
m
pl
i
fi
e
r
5
p
i
n
P
ros
t
he
t
i
c
ha
nd
M
A
V
F
i
gure
2
.
D
e
s
i
gn
of
e
l
e
c
t
ron
i
c
s
c
o
nt
ro
l
t
o
dri
v
e
t
h
e
pr
os
t
h
e
t
i
c
s
ha
nd
3.
R
ES
U
LTS
In
t
h
i
s
w
ork
,
w
e
pr
e
s
e
n
t
t
h
e
d
e
v
e
l
op
m
e
nt
of
t
he
a
n
t
hropo
m
orph
i
c
pros
t
h
e
t
i
c
ha
n
d
us
i
n
g
a
l
i
ne
a
r
a
c
t
ua
t
or.
T
he
3D
pr
i
nt
i
ng
i
s
a
n
op
e
n
-
s
our
c
e
d
e
s
i
gn
fr
om
B
e
bi
oni
c
L
a
bo
ra
t
ory
.
W
e
m
od
i
fy
o
n
t
h
e
l
i
n
e
a
r
a
c
t
ua
t
or
pa
rt
,
pr
e
vi
ous
l
y
t
h
e
d
e
s
i
gn
i
s
ba
s
e
d
o
n
s
t
a
nda
rd
d
c
m
ot
or
c
o
n
t
rol
but
i
n
t
hi
s
pa
p
e
r,
w
e
us
e
d
t
he
l
i
ne
a
r
a
c
t
ua
t
or
w
i
t
h
s
e
rv
o
t
yp
e
.
T
hus
,
t
he
r
e
w
a
s
no
m
ot
or
dr
i
v
e
r
re
qu
i
r
e
d
t
o
dri
ve
t
he
l
i
n
e
a
r
a
c
t
ua
t
or
.
Cons
e
q
ue
n
t
l
y
,
t
h
i
s
w
i
l
l
re
duc
e
t
h
e
p
ow
e
r
c
o
ns
um
p
t
i
o
n
a
nd
s
pa
c
e
for
t
h
e
h
a
rdw
a
re
.
3.
1
.
Th
e
an
th
r
op
o
mor
p
h
i
c
h
an
d
T
he
re
s
u
l
t
e
d
a
n
t
hropo
m
orp
hi
c
h
a
nd
w
a
s
i
n
a
c
c
ord
a
n
c
e
w
i
t
h
t
h
e
a
dul
t
h
um
a
n
ha
nd
.
T
h
e
w
i
dt
h
a
nd
hi
gh
on
t
h
e
p
a
l
m
a
r
s
i
de
w
e
r
e
90
m
m
a
nd
12
0
m
m
,
r
e
s
pe
c
t
i
ve
l
y.
T
he
m
a
x
i
m
u
m
w
i
dt
h
a
nd
hi
g
h,
i
n
w
h
i
c
h
i
n
c
l
u
di
ng
t
he
fi
ng
e
r
,
w
e
re
200
m
m
a
nd
170
m
m
,
re
s
p
e
c
t
i
v
e
l
y
.
T
h
e
p
hot
ogra
ph
of
t
h
e
pa
l
m
a
r
a
nd
dors
a
l
s
i
de
of
t
he
a
rt
i
f
i
c
i
a
l
ha
n
d
w
e
re
s
how
n
i
n
F
i
gur
e
3.
T
he
m
a
t
e
r
i
a
l
us
e
d
for
3D
pr
i
nt
i
ng
i
s
P
L
A
.
Be
c
a
us
e
of
t
h
e
P
IP
a
nd
M
IP
j
o
i
nt
i
n
t
he
3D
pri
n
t
i
n
g
d
e
s
i
gn
w
a
s
e
a
s
i
l
y
brok
e
n.
T
he
n
,
i
n
t
hi
s
s
t
udy
,
w
e
m
o
di
f
i
e
d
t
he
P
IP
a
nd
M
IP
j
oi
n
t
from
t
h
e
pr
e
vi
o
us
d
e
s
i
gn
b
y
s
e
pa
r
a
t
i
ng
t
he
fi
nge
r
i
nt
o
t
w
o
-
p
a
rt
.
T
o
c
onn
e
c
t
b
e
t
w
e
e
n
t
he
s
e
gm
e
nt
,
w
e
p
l
a
c
e
d
a
l
e
a
t
he
r
s
h
e
e
t
a
s
a
j
o
i
nt
.
In
orde
r
t
o
f
i
ng
e
r
i
n
t
h
e
e
x
t
e
ns
i
on
p
os
i
t
i
o
n,
a
rubb
e
r
m
a
t
e
r
i
a
l
w
a
s
l
oc
a
t
e
d
on
t
he
P
IP
a
nd
M
IP
j
oi
n
t
,
t
hus
a
ft
e
r
t
he
fl
e
xi
on
pos
i
t
i
on
,
t
he
fi
ng
e
r
w
i
l
l
pul
l
t
o
t
he
e
x
t
e
ns
i
on
pos
i
t
i
on.
F
i
na
l
l
y
,
f
i
ve
l
i
ne
a
r
a
c
t
ua
t
ors
w
e
r
e
p
l
a
c
e
d
o
n
t
h
e
c
om
p
a
rt
m
e
nt
o
n
t
h
e
dors
a
l
s
i
de
.
A
s
s
how
n
i
n
F
i
gu
re
3
(a
)
,
t
he
l
i
n
e
a
r
a
c
t
u
a
t
or
w
a
s
l
oc
a
t
e
d
f
i
r
m
l
y
i
n
t
he
dors
a
l
t
hus
i
t
c
a
n
pu
l
l
a
nd
r
e
l
e
a
s
e
t
he
fi
n
ge
r
for
fl
e
xi
on
a
nd
e
x
t
e
ns
i
on
m
o
t
i
on
.
3.
2
.
Th
e
p
e
r
for
man
c
e
of
th
e
p
r
os
th
e
t
i
c
s
h
an
d
T
he
E
M
G
s
i
gna
l
w
a
s
re
c
ord
e
d
us
i
n
g
dry
e
l
e
c
t
ro
de
s
from
e
xt
e
ns
or
c
a
rpi
r
a
di
a
l
i
s
l
ong
us
(F
i
gure
3
(
a
))
,
w
hi
c
h
[
19]
r
e
s
pons
i
bl
e
i
n
t
h
e
op
e
n
a
nd
c
l
os
e
m
o
t
i
o
n
of
t
h
e
fi
nge
r
.
T
h
e
r
e
pre
s
e
nt
a
t
i
on
of
t
h
e
E
M
G
s
i
gna
l
,
w
he
n
e
v
e
r
t
h
e
h
a
nd
i
n
t
he
p
os
i
t
i
on
of
c
l
os
e
a
nd
op
e
n
,
i
s
s
how
n
i
n
F
i
gur
e
s
3
(b)
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
K
O
M
N
IK
A
T
e
l
e
c
om
m
un
Co
m
put
E
l
Con
t
rol
L
ow
-
c
os
t
and
op
e
n
-
s
our
c
e
ant
hr
opom
or
phi
c
pr
os
t
h
e
t
i
c
s
h
an
d
us
i
ng
…
(
T
r
i
w
i
y
ant
o
T
r
i
w
i
y
an
t
o
)
957
a
nd
(c
).
T
he
E
M
G
s
i
gna
l
s
how
e
d
hi
gh
e
r
a
c
t
i
vi
t
y
w
he
n
t
h
e
m
us
c
l
e
p
e
rfo
rm
e
d
a
c
ont
r
a
c
t
i
on
(fro
m
0
t
o
8
s
e
c
onds
)
.
F
ur
t
he
r
m
or
e
,
t
h
e
E
M
G
s
i
gn
a
l
s
how
e
d
a
l
ow
e
r
a
c
t
i
vi
t
y
w
h
e
n
t
h
e
m
us
c
l
e
i
n
a
r
e
l
a
xe
d
pos
i
t
i
on
(from
8
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o
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(
a
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(
b)
(
c
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(
d)
(
e
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(
f
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(
g)
(
h)
(
i
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(
j
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(
k)
F
i
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4
.
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nu
m
b
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l
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s
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a
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,
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5
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ons
w
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h
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d
b
y
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n
t
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o
m
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t
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:
(
a
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l
i
t
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,
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b)
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4.
DISCUSSIO
N
In
t
h
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s
t
udy
,
w
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h
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s
[7,
14,
23]
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t
s
w
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In
or
de
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m
e
a
n
±
s
t
a
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rd
de
v
i
a
t
i
o
n).
T
hus
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i
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Evaluation Warning : The document was created with Spire.PDF for Python.
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r
a
us
z
e
t
a
l
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h
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y
d
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s
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gn
e
d
a
n
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s
ourc
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pros
t
h
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t
i
c
ha
nd
w
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t
h
s
i
x
de
gre
e
s
of
f
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e
do
m
w
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t
h
t
h
e
c
os
t
of
2
,
221
U
S
$
[24]
.
E
v
e
n
t
hough
t
h
e
y
obt
a
i
n
e
d
a
good
pr
os
t
he
t
i
c
s
h
a
nd
bu
t
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os
t
i
s
e
xpe
ns
i
ve
,
w
hi
c
h
m
os
t
l
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us
e
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t
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he
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a
r
he
a
d
a
n
d
d
c
m
o
t
ors
.
In
t
hi
s
s
t
udy
,
t
h
e
prop
os
e
d
pr
os
t
h
e
t
i
c
h
a
nd
,
w
hi
c
h
us
e
d
a
l
i
ne
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r
a
c
t
u
a
t
or
w
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t
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s
e
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c
ont
rol
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ha
t
t
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s
i
gn
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s
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l
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t
,
l
i
gh
t
w
e
i
ght
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op
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n
s
ourc
e
.
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he
E
M
G
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i
gn
a
l
h
a
s
de
m
ons
t
r
a
t
e
d
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h
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a
bi
l
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t
y
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o
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ont
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ol
t
h
e
h
a
nd
s
m
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ot
h
l
y.
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ow
e
ve
r,
t
he
s
i
n
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e
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h
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nne
l
of
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M
G
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i
gn
a
l
c
a
n
c
ont
r
ol
i
n
t
w
o
m
ot
i
on
(gra
s
p
a
nd
op
e
n
h
a
nd)
.
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f
ut
ur
e
w
o
rk,
t
h
e
E
M
G
s
i
gna
l
(s
i
ng
l
e
c
h
a
nne
l
)
w
i
l
l
b
e
us
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d
t
o
c
o
nt
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t
ha
n
t
w
o
m
ove
m
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nt
s
.
T
h
e
a
c
t
i
vi
t
y
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E
M
G
s
i
gna
l
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pe
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om
e
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hys
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c
a
l
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ond
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t
i
on
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u
c
h
a
s
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he
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os
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t
i
on
of
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he
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l
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ro
de
s
,
s
w
e
a
t
,
a
n
d
m
us
c
l
e
f
a
t
i
gue
[25
,
26]
.
T
h
e
re
f
ore
,
t
h
e
s
e
pa
ra
m
e
t
e
rs
w
e
r
e
re
qu
i
r
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d
t
o
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c
ons
i
d
e
re
d
i
n
t
he
d
e
ve
l
op
m
e
n
t
o
f
t
he
pros
t
he
t
i
c
s
h
a
nd
.
5.
C
O
N
C
LU
S
I
O
N
In
t
hi
s
w
ork,
w
e
pr
e
s
e
n
t
e
d
t
h
e
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e
ve
l
op
m
e
n
t
of
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ow
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os
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pe
n
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our
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e
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n
t
hropo
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orp
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pros
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he
t
i
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s
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nd
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T
h
e
w
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i
gh
t
a
nd
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os
t
t
o
bu
i
l
d
t
he
a
nt
hro
pom
orphi
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ha
n
d
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e
531
gr
a
m
s
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n
d
4
71.
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S
$
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re
s
p
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c
t
i
v
e
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y
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he
c
ont
r
i
bu
t
i
on
of
t
hi
s
s
t
udy
i
s
t
ha
t
t
he
pr
os
t
h
e
t
i
c
s
ha
nd
w
a
s
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v
e
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r
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t
ua
t
or,
w
h
i
c
h
h
a
s
l
ow
pow
e
r
c
o
ns
um
p
t
i
o
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l
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gh
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w
e
i
ght
.
T
h
e
s
e
c
ond
c
ont
r
i
bu
t
i
on
i
s
t
ha
t
t
h
e
pros
t
h
e
t
i
c
s
h
a
nd
c
a
n
b
e
c
on
t
rol
l
e
d
us
i
ng
a
s
i
ng
l
e
c
ha
nn
e
l
E
M
G
t
o
gra
s
p
e
l
e
ve
n
d
i
ffe
r
e
n
c
e
ob
j
e
c
t
s
.
F
ur
t
h
e
rm
o
re
,
t
hi
s
pros
t
he
t
i
c
s
h
a
nd
de
ve
l
op
m
e
n
t
ha
s
l
ow
n
oi
s
e
w
h
e
n
i
t
w
a
s
op
e
ra
t
e
d
.
T
h
e
pros
t
h
e
t
i
c
h
a
nd
c
a
n
be
a
pp
l
i
e
d
t
o
a
m
put
e
e
s
for
c
os
m
e
t
i
c
purpos
e
s
a
nd
he
l
p
i
n
da
i
l
y
a
c
t
i
vi
t
y.
T
he
l
i
m
i
t
a
t
i
o
n
of
t
h
i
s
w
ork
i
s
t
h
a
t
t
he
E
M
G
s
i
gn
a
l
c
on
t
ro
l
l
e
d
t
he
fi
v
e
f
i
ng
e
rs
s
i
m
ul
t
a
ne
ous
l
y.
In
fut
ur
e
w
o
rk,
a
re
a
l
-
t
i
m
e
e
m
be
dde
d
p
a
t
t
e
r
n
re
c
ogn
i
t
i
on
s
ho
ul
d
be
propos
e
d
t
o
c
on
t
rol
e
a
c
h
fi
nge
r
i
ndi
v
i
du
a
l
l
y.
A
C
K
N
O
WL
ED
G
E
M
EN
TS
T
he
a
u
t
hor
re
v
e
a
l
e
d
re
c
e
i
pt
of
t
he
fol
l
ow
i
ng
f
i
na
n
c
i
a
l
r
e
s
ourc
e
s
for
re
s
e
a
r
c
h,
a
u
t
hors
h
i
p,
a
n
d
publ
i
c
a
t
i
o
n
of
t
h
i
s
a
rt
i
c
l
e
:
T
hi
s
s
t
udy
w
a
s
s
up
port
e
d
by
P
O
L
T
E
K
K
E
S
K
E
M
E
N
K
E
S
S
ur
a
ba
ya
,
M
i
ni
s
t
r
y
of
H
e
a
l
t
h
,
In
done
s
i
a
t
hr
ough
t
h
e
Re
s
e
a
r
c
h
o
f
D
o
m
e
s
t
i
c
Co
r
pora
t
i
on
be
t
w
e
e
n
P
O
L
T
E
K
K
E
S
K
E
M
E
N
K
E
S
S
ura
ba
y
a
,
M
i
ni
s
t
r
y
o
f
H
e
a
l
t
h
,
I
ndon
e
s
i
a
a
nd
D
r
.
S
oe
t
om
o
H
os
pi
t
a
l
S
u
ra
b
a
ya
.
R
EF
ER
EN
C
ES
[1]
Ba
s
m
a
j
i
a
n
J
V
,
D
e
L
u
c
a
CJ
,
“
Ch
a
pt
e
r
3
:
D
e
s
c
ri
p
t
i
on
a
nd
A
n
a
l
ys
i
s
o
f
t
h
e
E
M
G
S
i
gn
a
l
.
In
:
M
us
c
l
e
s
a
l
i
ve
:
t
he
i
r
f
unc
t
i
ons
re
ve
a
l
e
d
b
y
e
l
e
c
t
rom
yogr
a
phy
,”
B
al
t
i
m
or
e
:
Wi
l
l
i
am
s
&
Wi
l
k
i
ns
,
pp
.
46
–
100
,
1985
.
[2]
A
s
gha
ri
O
s
koe
i
M
,
H
u
H
.
,
"
M
yo
e
l
e
c
t
ri
c
c
on
t
rol
s
ys
t
e
m
s
-
A
s
urve
y
,
"
B
i
om
e
d
i
c
al
S
i
gna
l
P
r
oc
e
s
s
i
ng
and
Cont
r
ol
,
vo
l
.
2,
no
.
4
,
pp
.
2
75
-
294
,
O
c
t
ob
e
r
200
7.
[3]
Ba
s
m
a
j
i
a
n
J
.
V
.
,
D
e
L
u
c
a
C
.
J.
.
“
Ch
a
pt
e
r7:
E
M
G
S
i
gn
a
l
A
m
pl
i
t
ud
e
a
nd
F
orc
e
.
In:
M
us
c
l
e
s
a
l
i
ve
:
t
he
i
r
func
t
i
ons
re
v
e
a
l
e
d
by
e
l
e
c
t
r
om
y
ogra
phy
,”
B
a
l
t
i
m
or
e
:
Wi
l
l
i
a
m
s
&
Wi
l
k
i
ns
,
p
p
.
1
87
–
200
,
1985
.
[4]
T
ri
w
i
ya
n
t
o
T
.
,
P
a
w
a
na
I
.
P
.
A
.
,
Ir
i
a
nt
o
B
.
G
.
,
Indr
a
t
o
T
.
B
.
,
W
i
s
a
na
I
.
D
.
G
.
H.
,
“
E
m
b
e
dd
e
d
s
ys
t
e
m
for
uppe
r
-
l
i
m
b
e
x
os
ke
l
e
t
on
ba
s
e
d
on
e
l
e
c
t
ro
m
yog
ra
ph
y
c
on
t
rol
,
”
T
E
L
KO
MNIK
A
T
e
l
e
c
om
m
uni
c
at
i
on
Com
put
i
ng
E
l
e
c
t
r
oni
c
s
a
nd
Cont
r
o
l
,
vo
l
.
17
,
no.
6
,
p
p.
2992
-
3002,
D
e
c
e
m
b
e
r
2
019
.
[5]
T
ri
w
i
ya
n
t
o,
W
a
h
yunggo
ro
O
.
,
N
ugro
ho
H
.
A
.
,
H
e
r
i
a
nt
o
H
.
,
“
Q
ua
nt
i
t
a
t
i
ve
Re
l
a
t
i
ons
h
i
p
Be
t
w
e
e
n
F
e
a
t
ure
E
xt
r
a
c
t
i
on
o
f
s
E
M
G
a
nd
U
pp
e
r
L
i
m
b
E
l
b
ow
J
o
i
nt
A
ng
l
e
,
”
2016
Int
e
r
nat
i
ona
l
Se
m
i
nar
on
A
pp
l
i
c
at
i
on
f
or
T
e
c
hno
l
og
y
o
f
I
nf
or
m
a
t
i
on
and
Com
m
u
ni
c
at
i
on
(ISe
m
a
nt
i
c
)
,
S
e
m
a
ra
n
g,
pp
.
44
-
50
,
2
016
.
[6]
Brune
l
l
l
i
D
.
,
M
e
m
be
r
S
.
,
F
a
r
e
l
l
a
E
.
,
G
i
ova
ne
l
l
i
D
,
M
i
l
os
e
vi
c
B
.
,
M
i
na
k
ov
I.
,
“
D
e
s
i
gn
Cons
i
de
r
a
t
i
ons
for
W
i
r
e
l
e
s
s
A
c
qui
s
i
t
i
on
of
M
u
l
t
i
c
h
a
nn
e
l
s
E
M
G
S
i
g
na
l
s
i
n
P
ros
t
he
t
i
c
H
a
nd
Con
t
rol
,
”
IE
E
E
Se
ns
or
s
J
o
ur
nal
,
vol
.
16
,
no.
23
,
pp.
833
8
-
8347
,
1
D
e
c
e
m
be
r
2016
.
[7]
A
ri
ya
n
t
o
M
.
,
M
una
di
,
H
a
ry
a
di
G
.
D
.
,
Is
m
a
i
l
R
.
,
P
a
k
pa
h
a
n
J
.
A
.
,
M
us
t
a
qi
m
K
.
A.
,
“
A
l
ow
c
os
t
a
nt
hr
opo
m
orph
i
c
pros
t
he
t
i
c
h
a
nd
us
i
ng
D
C
m
i
c
ro
m
e
t
a
l
ge
a
r
m
o
t
or,
”
2016
3
rd
Int
e
r
nat
i
ona
l
Conf
e
r
e
nc
e
o
n
In
f
o
r
m
at
i
on
T
e
c
hno
l
og
y
,
Com
pu
t
e
r
,
and
E
l
e
c
t
r
i
c
a
l
E
ngi
ne
e
r
i
ng
(
ICIT
A
CE
E
)
,
S
e
m
a
r
a
ng
,
pp.
42
-
46
,
2016
.
Evaluation Warning : The document was created with Spire.PDF for Python.
IS
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:
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6930
T
E
L
K
O
M
N
IK
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T
e
l
e
c
om
m
un
Co
m
put
E
l
Con
t
rol
,
V
ol
.
18
,
N
o.
2
,
A
pri
l
2
020:
953
-
9
60
960
[8]
V
uj
a
k
l
i
j
a
I
.
,
F
a
ri
n
a
D
.
,
A
s
z
m
a
n
n
O
.
,
“
N
e
w
d
e
ve
l
op
m
e
n
t
s
i
n
pros
t
h
e
t
i
c
a
r
m
s
ys
t
e
m
s
,
”
O
r
t
h
op
e
d
i
c
Res
e
ar
c
h
and
R
e
v
i
e
ws
,
vol
.
2
016
,
no
.
8,
pp
.
31
-
39
,
J
u
l
y
2016
.
[9]
G
e
e
t
ha
n
j
a
l
i
P
.
,
“
M
y
oe
l
e
c
t
ri
c
c
ont
ro
l
of
pros
t
he
t
i
c
ha
nds
:
S
t
a
t
e
-
of
-
t
he
-
a
r
t
re
v
i
e
w
,
”
M
e
d
i
c
a
l
D
e
v
i
c
e
s
:
E
v
i
d
e
n
c
e
and
Res
e
ar
c
h
,
v
ol
.
9
,
no.
1
,
p
p.
247
-
255
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u
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2
016
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K
i
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t
e
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rg
R
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S.
,
“
P
ros
t
h
e
t
i
c
C
hoi
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e
s
f
or
P
e
opl
e
w
i
t
h
L
e
g
a
nd
A
r
m
A
m
put
a
t
i
ons
,
”
P
h
y
s
i
c
a
l
Me
d
i
c
i
ne
and
R
e
ha
bi
l
i
t
at
i
on
Cl
i
n
ics
of
N
or
t
h
Am
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r
i
c
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A
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om
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ha
ni
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l
h
a
nd
pros
t
he
s
i
s
c
ont
r
ol
l
e
d
by
su
rfa
c
e
e
l
e
c
t
rom
y
ogra
phi
c
s
i
g
na
l
s
,
”
2007
29
th
A
nnua
l
In
t
e
r
n
at
i
on
al
C
onf
e
r
e
n
c
e
of
t
he
IE
E
E
E
ngi
n
e
e
r
i
ng
i
n
M
e
d
i
c
i
ne
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B
i
ol
ogy
So
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i
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t
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,
L
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V
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,
“
S
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ns
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rs
f
or
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t
i
c
ha
nd
s
:
A
s
urv
e
y
of
s
t
a
t
e
of
t
he
a
rt
,
”
I
E
E
E
A
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Cor
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l
l
N
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“
M
ul
t
i
-
m
od
a
l
p
ros
t
h
e
t
i
c
f
i
nge
rt
i
p
s
e
ns
or
w
i
t
h
proxi
m
i
t
y,
c
ont
a
c
t
,
a
nd
for
c
e
l
o
c
a
l
i
z
a
t
i
on
c
a
p
a
bi
l
i
t
i
e
s
,
”
A
d
v
anc
e
s
i
n
M
e
c
h
ani
c
a
l
E
ng
i
ne
e
r
i
ng
,
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Y
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a
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na
M
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Cor
nm
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.
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W
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E
.
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S
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m
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k
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e
t
a
l
.
,
“
A
l
ow
-
c
os
t
,
o
pe
n
-
s
o
urc
e
,
c
om
p
l
i
a
nt
ha
n
d
for
e
na
bl
i
ng
s
e
ns
or
i
m
ot
or
c
on
t
rol
for
p
e
op
l
e
w
i
t
h
t
r
a
ns
ra
di
a
l
a
m
pu
t
a
t
i
o
ns
,
”
2016
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t
h
A
nnua
l
Int
e
r
na
t
i
ona
l
Co
nf
e
r
e
nc
e
o
f
t
h
e
I
E
E
E
E
ngi
n
e
e
r
i
ng
i
n
Me
di
c
i
n
e
and
B
i
ol
og
y
So
c
i
e
t
y
(E
MB
C
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,
O
rl
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F
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t
ha
n
j
a
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i
P
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a
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K
.
K.
,
“
A
L
ow
-
Cos
t
R
e
a
l
-
T
i
m
e
R
e
s
e
a
rc
h
P
l
a
t
form
for
E
M
G
P
a
t
t
e
rn
Re
c
o
gni
t
i
on
-
Ba
s
e
d
P
ros
t
h
e
t
i
c
H
a
nd,
”
IE
E
E
/
A
SME
T
r
ans
ac
t
i
ons
on
M
e
c
h
at
r
oni
c
s
,
v
ol
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1
955
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A
ug
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K
a
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i
m
M
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A
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A
.
,
A
qi
l
a
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A
.
,
J
a
ffa
r
A
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L
ow
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Y
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a
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f
a
r
R
.
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B
a
ha
ri
M
.
S.
,
“
D
e
v
e
l
opm
e
nt
of
U
i
T
M
R
obot
i
c
P
ros
t
he
t
i
c
H
a
nd
,
”
I
nt
e
r
nat
i
onal
J
our
n
al
o
f
Me
c
h
an
i
c
al
an
d
M
e
c
hat
r
on
i
c
s
E
ng
i
ne
e
r
i
ng
,
vol
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T
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W
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a
c
z
m
a
r
e
k
P
.
,
“
C
IE
-
H
a
nd
t
ow
a
r
ds
P
ros
t
he
t
i
c
L
i
m
b
,
”
P
r
ogr
e
s
s
i
n
A
ut
om
at
i
on,
R
obot
i
c
s
,
a
nd
Me
as
ur
i
ng
T
e
c
hni
qu
e
s
,
vo
l
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L
e
n
z
i
T
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ps
e
y
J
.
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S
e
ns
i
nge
r
J
.
W.
,
“
T
h
e
RIC
A
r
m
-
A
S
m
a
l
l
A
nt
hropo
m
orph
i
c
T
r
a
ns
hum
e
r
a
l
P
ros
t
he
s
i
s
,
”
i
n
I
E
E
E
/
A
SM
E
T
r
ans
a
c
t
i
ons
o
n
M
e
c
hat
r
on
i
c
s
,
v
ol
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n
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pp
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D
e
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2016
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[19]
M
a
rt
i
ni
,
“
F
un
da
m
e
n
t
a
l
of
A
n
a
t
o
m
y
a
nd
P
hys
i
ol
ogy
,
”
9
th
e
d.
P
e
ar
s
on
E
du
c
a
t
i
on
.
B
os
t
on:
P
e
a
rs
on
E
duc
a
t
i
on
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p.
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[20]
S
t
e
ge
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a
n
D
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,
H
e
rm
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ns
H
.
,
“
S
t
a
nd
a
rds
for
s
urfa
c
e
e
l
e
c
t
rom
y
o
gra
phy
:
T
h
e
E
uro
pe
a
n
proj
e
c
t
S
urfa
c
e
E
M
G
for
non
-
i
nv
a
s
i
v
e
a
s
s
e
s
s
m
e
n
t
o
f
m
us
c
l
e
s
(S
E
N
IA
M
),
”
Sur
f
ac
e
E
l
e
c
t
r
om
y
ogr
aph
y
A
pp
l
i
c
at
i
on
A
r
e
as
and
P
ar
am
e
t
e
r
s
.
P
r
oc
e
e
d
i
ngs
of
t
he
T
hi
r
d
G
e
ne
r
a
l
SE
NIA
M
Wor
k
s
hop
on
s
ur
f
a
c
e
e
l
e
c
t
r
om
y
ogr
ap
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,
“
T
he
us
e
of
s
urf
a
c
e
e
l
e
c
t
rom
y
og
ra
phy
i
n
bi
om
e
c
h
a
ni
c
s
,
”
J
our
nal
o
f
A
ppl
i
e
d
B
i
om
e
c
ha
ni
c
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3,
1997
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[22]
T
ri
w
i
ya
n
t
o,
W
a
hy
ungg
oro
O
.
,
N
ugroho
H
.
A
.
,
H
e
ri
a
nt
o
,
“
A
n
i
nve
s
t
i
g
a
t
i
on
i
nt
o
t
i
m
e
do
m
a
i
n
fe
a
t
ure
s
of
s
urfa
c
e
e
l
e
c
t
ro
m
yogr
a
phy
t
o
e
s
t
i
m
a
t
e
t
h
e
e
l
bow
j
oi
nt
a
n
gl
e
,
”
A
d
v
anc
e
s
i
n
E
l
e
c
t
r
i
c
a
l
and
E
l
e
c
t
r
on
ic
E
ng
i
n
e
e
r
i
ng
,
v
ol
.
1
5,
no
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pp.
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8
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458
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2017
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[23]
Z
uni
g
a
J
.
M
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P
e
c
k
J
.
,
S
r
i
v
a
s
t
a
v
a
R
.
,
K
a
t
s
a
v
e
l
i
s
D
.
,
Ca
rs
on
A
.
,
“
A
n
O
p
e
n
S
our
c
e
3D
-
P
ri
nt
e
d
T
ra
ns
i
t
i
on
al
H
a
nd
P
r
os
t
he
s
i
s
for
C
hi
l
dre
n
,
”
in
J
P
O
J
ourn
a
l
of
P
ros
t
h
e
t
i
c
s
a
nd
O
rt
hot
i
c
s
,
vo
l
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no
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3
,
pp
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3
-
108
,
M
a
y
2
016.
[24]
K
ra
us
z
N
.
E
.
,
Rorr
e
r
R
.
A
.
L
.
,
W
e
i
r
R
.
F
.
F
f,
“
D
e
s
i
gn
a
nd
F
a
bri
c
a
t
i
on
of
a
S
i
x
D
e
g
re
e
-
of
-
F
r
e
e
dom
O
p
e
n
S
ourc
e
H
a
n
d,
”
i
n
I
E
E
E
T
r
ans
a
c
t
i
ons
on
N
e
ur
al
S
y
s
t
e
m
s
and
R
e
habi
l
i
t
at
i
on
E
ng
i
n
e
e
r
i
n
g
,
vol
.
24,
no
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5,
pp.
562
-
57
2,
M
a
y
20
16.
[25]
T
ri
w
i
ya
n
t
o
T
.
,
W
a
h
yunggo
ro
O
.
,
N
u
groho
H
.
A
.
,
H
e
ri
a
nt
o
H
.
,
“
M
us
c
l
e
f
a
t
i
gu
e
c
o
m
pe
ns
a
t
i
on
of
t
h
e
e
l
e
c
t
rom
y
ogra
phy
s
i
gna
l
for
e
l
bow
j
oi
nt
a
ng
l
e
e
s
t
i
m
a
t
i
on
us
i
ng
a
d
a
pt
i
ve
fe
a
t
ur
e
,
”
Com
put
e
r
s
and
E
l
e
c
t
r
i
c
a
l
E
ng
i
ne
e
r
i
ng
,
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29
3,
O
c
t
ob
e
r
2
018.
[26]
T
ri
w
i
ya
n
t
o
T
.
,
W
a
hy
unggor
o
O
.
,
N
ugro
ho
H
.
A
.
,
H
e
ri
a
nt
o
H
.
,
“
C
ont
i
nuous
w
a
v
e
l
e
t
t
r
a
ns
for
m
a
n
a
l
ys
i
s
of
s
urf
a
c
e
e
l
e
c
t
rom
yogr
a
phy
for
m
us
c
l
e
f
a
t
i
gu
e
a
s
s
e
s
s
m
e
n
t
on
t
he
e
l
bow
j
oi
nt
m
o
t
i
o
n,
”
B
i
om
e
di
c
a
l
E
ngi
n
e
e
r
i
ng
,
v
ol
.
1
5,
no
.
3
,
pp.
42
4
-
434
,
O
c
t
o
be
r
2017
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