“…In the field of rehabilitation, EMS has been utilized to treat impaired muscle contraction caused by neuromuscular injuries. Various force response models [ 27 , 28 , 29 , 30 ] with sensors to measure level of muscle contraction, such as electromyography (EMG) [ 31 , 32 ], mechanomyography (MMG) [ 33 , 34 ], and piezoresistive sensors [ 35 , 36 , 37 , 38 , 39 ], have been proposed to precisely control the contraction of impaired muscles in EMS-based rehabilitation. Although these models can represent the nonlinear features of the force response with respect to the various parameters of an electrical stimulation, it remains difficult to apply these models to haptic applications because of the discrepancy of target muscles.…”