. 2019 Jan 16;14(1):e0210956. doi: 10.1371/journal.pone.0210956

Table 1. Summary of experiments performed in this study.

Hypothesis	Subject Cohort	Experimental Task	Feedback Conditions	VSS Configuration	Feedback Variable	Interface Block
Perception	1	Perception-S (sensation only)	T	A1 T5	-	-
	2	Perception-M (during myo control)		A1 T5	grasp force	Stiff
	2	Perception-M (during myo control)		A1 T5	hand aperture	-
Control	2	Control	T, V, VT	A1 T5	grasp force	Stiff
Control	2	Control	T, V, VT	A1 T5	hand aperture	-
Interface compliance	3	Perception-M	T	A1⁺ T5⁺	grasp force	Stiff⁺ Compliant⁺
Interface compliance	3	Control	T, V, VT	A1⁺ T5⁺	grasp force	Stiff⁺ Compliant⁺

Tasks Perception-S: Evaluating perception with sensory stimulation only; Perception-M: Evaluating perception with sensory stimulation during myoelectric control. Feedback Conditions T: Tactile feedback only; V: Visual feedback only; VT: Visual and Tactile feedback together. VSS Configuration A1: Single actuator; T5: Tactor array

⁺All possible combinations of VSS configuration and interface block used for every task.