The c:forEach tag also allows you to track the status of the loop if you use the "varStatus" attribute (e.g. varStatus="charGroupStatus"). You can then use c:if tags to check whether the index is 0 (i.e. whether it is the first time through the loop) and print out the cells accordingly.
Like so:
This might not be the most efficient way to do it (because it does the two if checks for every single modelChar), but it seems readable and doesn't involve slightly unsual </tr> <tr> pairs (which the other solution that I thought of would require ;) ) and as long as you don't have thousands upon thousands of modelChars you can probably get away with it
