The use of surface electromyography (sEMG) is rapidly spreading, from robotic prostheses and muscle computer interfaces to rehabilitation devices controlled by residual muscular activities. In this context, sEMG-based gesture recognition plays an enabling role in controlling prosthetics and devices in real-life settings. Our work aimed at developing a low-cost, print-and-play platform to acquire and analyse sEMG signals that can be arranged in a fully customized way, depending on the application and the users’ needs. We produced 8-channel sEMG matrices to measure the muscular activity of the forearm using innovative nanoparticle-based inks to print the sensors embedded into each matrix using a commercial inkjet printer. Then, we acquired the multi-channel sEMG data from 12 participants while repeatedly performing twelve standard finger movements (six extensions and six flexions). Our results showed that inkjet printing-based sEMG signals ensured significant similarity values across repetitions in every participant, a large enough difference between movements (dissimilarity index above 0.2), and an overall classification accuracy of 93–95% for flexion and extension, respectively.

The use of surface electromyography (sEMG) is rapidly spreading, from robotic prostheses and, muscle computer interfaces, to rehabilitation devices controlled by residual muscular activities. In this context, sEMG-based gesture recognition plays an enabling role to control prosthetics and devices in real-life settings. The aim of our work was to develop a low-cost, print-and-play platform to acquire and analyse sEMG signals that can be arranged in a fully customized way, depending on the application and the users’ needs. We produced 8-channel sEMG matrices to measure muscular activity of the forearm using innovative nanoparticle-based inks to print the sensors embedded into each matrix using a commercial inkjet printer. Then, we acquired the multi-channel sEMG data from 12 participants, while they were repeatedly performing 12 standard finger movements (6 extension and 6 flexion). Our results showed that inkjet printing-based sEMG signals ensured significant similarity values across repetitions in every participant, a large enough difference between movements (dissimilarity index above 0.2), and an overall classification accuracy of 93%-95% for flexion and extension, respectively.

In everyday activities, humans use a finite number of postural hand configurations, but how do they flow into each other to create sophisticated manual behavior? We hypothesized that hand movement emerges through the temporal dynamics of a set of recurrent hand shapes characterized by specific transitions. Through a sensorized glove, we collected kinematics data from thirty-six participants preparing and having breakfast in naturalistic conditions. By means of a combined PCA/clustering-based approach, we identified a repertoire of hand states and their transitions over time. We found that manual behavior can be described in space through a complex organization of basic configurations. These, even in an unconstrained experiment, recurred across subjects. A specific temporal structure, highly consistent within the sample, seems to integrate such identified hand shapes to realize skilled movements. Our findings suggest that the simplification of the motor commands unravels in the temporal dimension more than in the spatial one.

In everyday activities, humans move alike to manipulate objects. Prior works suggest that hand movements are built by a limited set of basic building blocks consisting of a set of common postures. However, how the low dimensionality of hand movements supports the adaptability and flexibility of natural behavior is unknown. Through a sensorized glove, we collected kinematics data from thirty-six participants preparing and having breakfast in naturalistic conditions. By means of an unbiased analysis, we identified a repertoire of hand states. Then, we tracked their transitions over time. We found that manual behavior can be described in space through a complex organization of basic configurations. These, even in an unconstrained experiment, recurred across subjects. A specific temporal structure, highly consistent within the sample, seems to integrate such identified hand shapes to realize skilled movements. These findings suggest that the simplification of the motor commands unravels in the temporal dimension more than in the spatial one.