Extended Data Fig. 6: Recorded EMG of the upper limb.
From: Active mechanical haptics with high-fidelity perceptions for immersive virtual reality
a-d, Raw EMG data with a sampling frequency of 2,000 Hz and the corresponding RMS value with a sampling interval of 0.25 s. The data were recorded when users tried to grasp four objects with different stiffness under four different scenarios, including grasping real objects (a), grasping the present haptic device (b), grasping virtual objects through hand gestures (c), and grasping a conventional joystick (d).
