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. 2021 Mar 18;18:50. doi: 10.1186/s12984-021-00833-3

Table 2.

Usability of trained controllers

User training sets
3-DoF 4-DoF 4-DoF 4-DoF 4-DoF
DoF Trained Wrist Pro/Supinate  √  √  √  √  √
Wrist Flex Extend  √  √  √  √  √
D2 Flex Extend  √  √  √  √  √
D3-5 Flex Extend  √
Thumb Ab/Adduct  √
Thumb Flex/Extend  √
Radial-Ulnar Deviate  √
Usable S6 Controllers 3D TH RU
S8 Controllers 3D TH RU

Subjects could deem a controller unusable during controller tuning and testing. Each subject deemed the 3-DoF (3D) and two of four 4-DoF (the radial-ulnar movement RU, and a thumb movement, TH) controllers usable