| Summary: | Abstract Background Partial hand amputation forms more than 90% of all upper limb amputations. This amputation has a notable effect on the amputee’s life. To improve the quality of life for partial hand amputees different prosthesis options, including externally-powered prosthesis, have been investigated. The focus of this work is to explore force myography (FMG) as a technique for regressing grasping movement accompanied by wrist position variations. This study can lay the groundwork for a future investigation of FMG as a technique for controlling externally-powered prostheses continuously. Methods Ten able-bodied participants performed three hand movements while their wrist was fixed in one of six predefined positions. The angle between Thumb and Index finger ($$\theta _{TI}$$ θTI ), and Thumb and Middle finger ($$\theta _{TM}$$ θTM ) were calculated as measures of grasping movements. Two approaches were examined for estimating each angle: (i) one regression model, trained on data from all wrist positions and hand movements; (ii) a classifier that identified the wrist position followed by a separate regression model for each wrist position. The possibility of training the system using a limited number of wrist positions and testing it on all positions was also investigated. Results The first approach had a correlation of determination ($$R^2$$ R2 ) of 0.871 for $$\theta _{TI}$$ θTI and $$R^2_{\theta _{TM}} = 0.941$$ RθTM2=0.941 . Using the second approach $$R^2_{\theta _{TI}}=0.874$$ RθTI2=0.874 and $$R^2_{\theta _{TM}}=0.942$$ RθTM2=0.942 were obtained. The first approach is over two times faster than the second approach while having similar performance; thus the first approach was selected to investigate the effect of the wrist position variations. Training with 6 or 5 wrist positions yielded results which were not statistically significant. A statistically significant decrease in performance resulted when less than five wrist positions were used for training. Conclusions The results indicate the potential of FMG to regress grasping movement, accompanied by wrist position variations, with a regression model for each angle. Also, it is necessary to include more than one wrist position in the training phase.
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