Fig. 3.

Experiment results. a Compensatory movement for forward lean was significantly reduced with the wrist compared to without the wrist. b Compensatory movement for leftward bend at the hip (i.e., the maximum angle deviation) was significantly reduced with the wrist compared to without the wrist while using the commercial prosthesis configuration only. c Failure rate for the clothespin relocation task (CRT) using the research prosthesis configuration decreased when the task was performed with the Utah wrist. d Average number of attempted movements under each condition. e Participants preferred to use the prostheses with the wrist enabled compared to without the wrist enabled. Note that the error bars are not present in the commercial condition, because every participant ranked the commercial condition the same. No variance between participant response is seen for the C+W and C-W condition. f No significant differences were seen in the subjective workload with the wrist vs. without. g No significant differences were seen in the DRT miss rate with the wrist vs. without. h No significant differences were seen in the DRT response time with the wrist vs. without. Data show mean ± standard error. Bars show aggregate data across all participants and all sessions, and lines show individual participant performance averaged across their own sessions. * p < 0.05. Generalized linear model with binomial distribution and log link used for Failure Rate and Secondary Task Response Accuracy. Linear model with robust or sandwich estimator of variance used for Leftward Bend, Forward Lean and Secondary Task Response Time. Permutation test of mean differences with 10,000 Monte Carlo simulations used for Subjective Workload. (N = 3).