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In this study, research was carried out on the end-effector force estimation of two representative multi-muscle contraction tasks elbow flexion and palm-pressing. The aim was to ascertain whether an individual muscle or a combination of muscles is more suitable for the end-effector force estimation. High-density surface electromyography (HD-sEMG) signals were collected from four primary muscle areas of the upper arm and forearm the biceps brachii (B, brachialis (BR), triceps brachii (T, brachioradialis (BRD), and extensor digitorum co
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