Table 5 Recurrent neural network (RNN) is separately trained on several parameters: angular position (ang), angular velocity (vel), and angular acceleration (acc) from each joint. As well as on the end-effector (EEF) position and orientation of the hand and EEF+ with additional velocity and acceleration. The RNN is tested on a new motion from the separate subjects and evaluated by zero-line score Zs and mean square error MSE

From: The concepts of muscle activity generation driven by upper limb kinematics