Table 4 BER performance of modulation schemes with joint extending to different positions (for upper limb channels, BER is \(10^{-6}\) with elbow joint at 45°, for lower limb channels, BER is \(10^{-6}\) with knee joint at 90°)
Subjects | A1A2 | B1B2 | |||
|---|---|---|---|---|---|
To 90° | To 135° | To 180° | To 135° | To 180° | |
QPSK | |||||
S1 | 2.1 × \(10^{-5}\) | 4.6 × \(10^{-4}\) | 1.0 × \(10^{-3}\) | 1.2 × \(10^{-5}\) | 1.0 × \(10^{-4}\) |
S2 | 7.9 × \(10^{-5}\) | 7.1 × \(10^{-4}\) | 1.5 × \(10^{-3}\) | 4.7 × \(10^{-5}\) | 1.3 × \(10^{-4}\) |
S3 | 3.4 × \(10^{-5}\) | 1.0 × \(10^{-3}\) | 2.3 × \(10^{-3}\) | 4.9 × \(10^{-5}\) | 3.0 × \(10^{-4}\) |
S4 | 8.3 × \(10^{-5}\) | 9.6 × \(10^{-4}\) | 3.7 × \(10^{-3}\) | 1.9 × \(10^{-5}\) | 1.6 × \(10^{-4}\) |
Subjects | A1A3 | B1B3 | |||
|---|---|---|---|---|---|
To 90° | To 135° | To 180° | To 135° | To 180° | |
S1 | 1.2 × \(10^{-3}\) | 1.0 × \(10^{-2}\) | 5.7 × \(10^{-2}\) | 6.8 × \(10^{-4}\) | 3.6 × \(10^{-3}\) |
S2 | 5.2 × \(10^{-4}\) | 2.2 × \(10^{-2}\) | 1.0 × \(10^{-1}\) | 3.0 × \(10^{-4}\) | 1.3 × \(10^{-3}\) |
S3 | 1.5 × \(10^{-5}\) | 2.1 × \(10^{-3}\) | 3.1 × \(10^{-2}\) | 2.0 × \(10^{-3}\) | 9.3 × \(10^{-3}\) |
S4 | 2.4 × \(10^{-5}\) | 6.8 × \(10^{-3}\) | 7.9 × \(10^{-2}\) | 4.7 × \(10^{-4}\) | 1.4 × \(10^{-3}\) |
Subjects | A1A2 | B1B2 | |||
|---|---|---|---|---|---|
To 90° | To 135° | To 180° | To 135° | To 180° | |
16QAM | |||||
S1 | 2.0 × \(10^{-5}\) | 4.5 × \(10^{-4}\) | 1.0 × \(10^{-3}\) | 1.2 × \(10^{-5}\) | 1.0 × \(10^{-4}\) |
S2 | 7.7 × \(10^{-5}\) | 7.0 × \(10^{-4}\) | 1.5 × \(10^{-3}\) | 4.6 × \(10^{-5}\) | 1.3 × \(10^{-4}\) |
S3 | 3.3 × \(10^{-5}\) | 1.1 × \(10^{-3}\) | 2.3 × \(10^{-3}\) | 4.7 × \(10^{-5}\) | 3.0 × \(10^{-4}\) |
S4 | 8.1 × \(10^{-5}\) | 9.4 × \(10^{-4}\) | 3.6 × \(10^{-3}\) | 1.8 × \(10^{-5}\) | 1.6 × \(10^{-4}\) |
Subjects | A1A3 | B1B3 | |||
|---|---|---|---|---|---|
To 90° | To 135° | To 180° | To 135° | To 180° | |
S1 | 1.2 × \(10^{-3}\) | 1.0 × \(10^{-2}\) | 5.7 × \(10^{-2}\) | 6.7 × \(10^{-4}\) | 3.6 × \(10^{-3}\) |
S2 | 5.1 × \(10^{-4}\) | 2.2 × \(10^{-2}\) | 1.1 × \(10^{-1}\) | 3.0 × \(10^{-4}\) | 1.3 × \(10^{-3}\) |
S3 | 1.4 × \(10^{-5}\) | 2.0 × \(10^{-3}\) | 3.1 × \(10^{-2}\) | 1.9 × \(10^{-3}\) | 9.2 × \(10^{-3}\) |
S4 | 2.4 × \(10^{-5}\) | 6.8 × \(10^{-3}\) | 7.8 × \(10^{-2}\) | 4.6 × \(10^{-4}\) | 1.4 × \(10^{-3}\) |
Subjects | A1A2 | B1B2 | |||
|---|---|---|---|---|---|
To 90° | To 135° | To 180° | To 135° | To 180° | |
16FSK | |||||
S1 | 4.1 × \(10^{-5}\) | 1.8 × \(10^{-3}\) | 4.7 × \(10^{-3}\) | 2.1 × \(10^{-5}\) | 2.9 × \(10^{-4}\) |
S2 | 2.1 × \(10^{-4}\) | 3.0 × \(10^{-3}\) | 7.6 × \(10^{-3}\) | 1.1 × \(10^{-4}\) | 4.1 × \(10^{-4}\) |
S3 | 7.4 × \(10^{-5}\) | 5.0 × \(10^{-3}\) | 1.3 × \(10^{-2}\) | 1.1 × \(10^{-4}\) | 1.1 × \(10^{-3}\) |
S4 | 2.2 × \(10^{-4}\) | 4.3 × \(10^{-3}\) | 2.2 × \(10^{-2}\) | 3.5 × \(10^{-5}\) | 4.8 × \(10^{-4}\) |
Subjects | A1A3 | B1B3 | |||
|---|---|---|---|---|---|
To 90° | To 135° | To 180° | To 135° | To 180° | |
S1 | 5.8 × \(10^{-3}\) | 7.7 × \(10^{-2}\) | 6.1 × \(10^{-1}\) | 2.8 × \(10^{-3}\) | 2.2 × \(10^{-2}\) |
S2 | 2.0 × \(10^{-3}\) | 1.9 × \(10^{-1}\) | 1.28 | 1.1 × \(10^{-3}\) | 6.4 × \(10^{-3}\) |
S3 | 2.6 × \(10^{-5}\) | 1.1 × \(10^{-2}\) | 2.9 × \(10^{-1}\) | 1.0 × \(10^{-2}\) | 6.7 × \(10^{-2}\) |
S4 | 4.9 × \(10^{-5}\) | 4.7 × \(10^{-2}\) | 8.8 × \(10^{-1}\) | 1.8 × \(10^{-3}\) | 6.8 × \(10^{-3}\) |