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. 2020 Jan 13;10:163. doi: 10.1038/s41598-019-56985-9

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© The Author(s) 2020

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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Five questions of the questionnaire to evaluate the perception of the electrotactile feedback: Question 1–2 are to evaluate the perception of the electrotactile feedback at marginal values of frequency range for pulsing sensation, Question 3 is to confirm the effectiveness of using the frequency of (f_max + 5) Hz to evoke the buzzing sensation, and Question 4–5 are to confirm the effectiveness of frequency modulation at the frequency range between 10 Hz and (f_max − 5) Hz. The white circles indicate the average and the error bar indicates the standard error.