Although we estimate the hand velocity based on eq. (8),
the accuracy of the estimation based on only EEG signals is
lower compared with estimation accuracy based on EMG
signals. Therefore, we estimate a user’s motion based on EMG
signals basically and the part of motion which cannot be
estimated from EMG signals is estimated based on EEG signals.
By using the estimated joint torques in eqs. (2)-(4), the hand
force vector is calculated as follows.