Figure 9.

Limb absent subjects: example data. The slowest individual trials for each limb absent subject for each robotic system used to perform the task. The abscissa is time in seconds, while the ordinate is the normalized cylinder position (β). Black lines represent the subjects’ own prostheses (see Figure 1 caption for abbreviation definitions), while the red and blue dashed lines represent the Shadow Hand using the Rhythmic (R) and Threshold (T) input mappings, respectively. Numbers next to each legend entry denote the trial number (out of 10). Cases where the object was accidentally rotated backwards are circled in orange. The Threshold method performed the task the fastest in this dataset.