Figure 3.

Single-joint FES and mobile arm support (MAS) movements under real-time brain control. (A) (1^st column) Restored arm and hand movements and achievable ranges of motion. Line drawings are made from actual photographs of restored movements, and show complete range of restored motion. (2^nd–4^th columns) Overlaid time series of joint motions towards each target (columns) during an example block of each movement (rows). Each line illustrates a single movement from the example FES block (blue) or virtual reality block (pink). Gray rectangles illustrate the target and the tolerance allowed for target acquisition. Target distances (from the flexion to extension target) and allowed tolerances (widths) were 43.4°±6.0° (elbow), 24°±3.4° (wrist), 35.8°±5.8° (hand), and 41.3°±5.1° (MAS). The participant was in full control of the joint at all times (the joint position was not reset after a target was acquired). Example blocks with high success rates were chosen for illustration. (B) Success rate and average movement time is summarized for each FES block (circles). Circles are different colors if they occurred on different days. Average virtual reality performance (blue dotted line) and chance performance (red dotted line) are shown for reference. Supplementary Table 4 gives a more detailed quantification with accompanying statistical tests.