tasks or implement particular abstract data types. Typically the functionality of the program modules may be combined or distributed as desired in various embodiments. [0052] The embodiments described herein may be embodied as a method, of which an example has been provided. The acts performed as part of the method may be ordered in any suitable way. Accordingly, embodiments may be constructed in which acts are performed in an order different than illustrated, which may include performing some acts simultaneously, even though shown as sequential acts in illustrative embodiments. [0053] Further, some actions are described as taken by a “user.” It should be appreciated that a “user” need not be a single individual, and that in some embodiments, actions attributable to a “user” may be performed by a team of individuals and/or an individual in combination with computer-assisted tools or other mechanisms. [0054] Example: Finger Code Communication [0055] Using simple pressure sensor pads attached to the fingertips of a user or a pair of gloves that the user wears, forces at individual fingers were able to be measured. These sensor signals are multi-dimensional, producing a rich variety of signals. A naïve technique is to assign each finger force sensor to a specific ON-OFF signal, just like a shoulder shrug switch. This allows for communicating the same number of actions as the number of the force sensors. However, combinations of multiple sensor outputs may express a much larger set of signals. In other words, “commandcodes”can be defined as a combination of individual sensor outputs. As a pianist can express a variety of codes with ten fingers, this finger force sensor system allows for expressing a number of communication items. Moreover, the magnitude of finger force can be used for communicating continuous variables, such as distance, speed, and direction. By combining discrete patterns, or code, with analogue, continuous signals, a user can express a rich variety of signals to a system. [0056] One challenge is how to distinguish intended command signals from the finger forces that a user applies during nominal performance of a task, such as holding and operating a tool. This can be clearly differentiated by analyzing data of finger forces measured from repeated executions of a given task. Here, the null space of the data matrix was used to identify commands communicated from a user. For example, the finger forces associated with the execution of a task may be confined in a specific subspace within the