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. 2015 Apr 9;12:35. doi: 10.1186/s12984-015-0022-8

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© Paredes et al.; licensee BioMed Central. 2015

This is an Open Access article distributed under the terms of the Creative Commons Attribution License (http://creativecommons.org/licenses/by/4.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly credited. The Creative Commons Public Domain Dedication waiver (http://creativecommons.org/publicdomain/zero/1.0/) applies to the data made available in this article, unless otherwise stated.

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Time delays (TD_IO) averaged over all subjects and trials in each condition (VF and F_TE/F_STIM). In the VF condition, the delay was significantly lower with respect to the electrotactile feedback conditions. A decrease in the stimulation frequency (tracking error sample rate) led to a sharp increase in the TD_IO between the reference and generated trajectory. Similarly to the other performance measures, transmitting the low rate tracking error information at higher frequencies (5/50 and 5/100) decreased the time delay (i.e., Λ shape as for NRMSTE in Figure 6b). The asterisks and horizontal bars denote statistically significant difference between pair of conditions. A black asterisk alone above the condition means that the condition was statistically different from all others.