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. 2018 Nov 12;8:16666. doi: 10.1038/s41598-018-34910-w

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© The Author(s) 2018

Open Access This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made. The images or other third party material in this article are included in the article’s Creative Commons license, unless indicated otherwise in a credit line to the material. If material is not included in the article’s Creative Commons license and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this license, visit http://creativecommons.org/licenses/by/4.0/.

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Staircase force control task. (A) Schematic representation of the staircase force control task. The right panel displays the normalized sensor outputs required by the subject. The subjects were asked to perform three force levels in the rising phase and two in the releasing phase. (B) Statistical analysis and reproducibility of the force output for the robotic hand finger. The Kruskal-Wallis test with the Tukey-Kramer post hoc test for multi-group comparison was performed over all the single-step force trials (N = 5 levels x 10 repetitions x 2 conditions for Subject 1 and N = 5 levels x 10 repetitions x 2 conditions for Subject 2). The test shows three significantly different levels achieved in terms of the maximum force per level reached using amplitude. The data in the figure are represented as the means ± std. *Indicates p < 0.05.