Table 4 PER-class performance metrics.

From: Upper limb human-exoskeleton system motion state classification based on semg: application of CNN-BiLSTM-attention model

Motion state

Precision (%)

Recall (%)

F1 score

RS

98.39

98.87

0.9863

MA

97.59

97.12

0.9735

RM

95.89

96.28

0.9608

DLB

96.83

96.28

0.9655

SLB

97.75

97.90

0.9782

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