Table 2.

Average (across all sessions) offline reconstruction performance (mean ± SD) for ridge and Kalman filter

	Kalman filter				Ridge filter
	R2 x/y/z combined			OLT (ms)	R2 x/y/z combined
Monkey (no. of neural units)	Position	Velocity	Acceleration	Position	Position
R (65.86 ± 6.89)	0.61 ± 0.06	0.58 ± 0.05	0.34 ± 0.07	82.35 ± 40.18	0.45 ± 0.05
G (64.29 ± 15.02)	0.52 ± 0.06	0.24 ± 0.05	0.07 ± 0.02	79.63 ± 39.43	0.36 ± 0.06

The reported performance was achieved using all neural units (single- and multiunit activity) recorded from area 5d and PRR combined. Because 75% of the implanted electrodes were designed for surface recordings, the neural ensembles reported contained more surface (area 5d) neural units than neural units from the deeper structures (PRR).