Current manual joysticks have been widely used to con-trol various artificial devices, but they are expensive and composed of mechanically bulky frames. To ad-dress these issues, we developed a myoelectric joystick using surface electromyogram (sEMG) from six mus-cles that make a wrist joint move. Fluid wrist movements were estimated by introducing a non-negative mus-cle synergy matrix and a joint synergy matrix. Only four movements were predefined (wrist extension, wrist flexion, radial deviation, and ulnar deviation) to construct the muscle synergy matrix, but an experimen-tal result showed that a variety of movements (e.g., a combination of wrist extension and ulnar deviation) could be extracted using the joint matrix. This work also could be extended for development of an alterna-tive computer interface and powered wrist prosthesis for individuals with transradial or wrist disarticu-lation level amputation.

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