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Sample tracking trials for each interface. One subject, 30 s samples from 3 min trials with target cutoff frequency of 1 Hz. Both target signal and output are shown. (a) Position: tracking error = 23.8%, information transmission rate = 4.23 b/s; (b) electromyography (EMG): tracking error = 32.7%, information transmission rate = 3.13 b/s; (c) force: tracking error = 35.4%, information transmission rate = 3.3 b/s.
