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. 2022 Oct 11;12:17002. doi: 10.1038/s41598-022-21264-7

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© The Author(s) 2022

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 licence, and indicate if changes were made. The images or other third party material in this article are included in the article's Creative Commons licence, unless indicated otherwise in a credit line to the material. If material is not included in the article's Creative Commons licence 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 licence, visit http://creativecommons.org/licenses/by/4.0/.

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Object discrimination results for Subject 1. This subject used the DataGlove to control both virtual and physical prosthetic hands. (A) Representation of the DEKA hand in the MuJoCo virtual environment with a spherical object. (B) Confusion matrices for the object discrimination task using the virtual DEKA hand and an exponential stimulation encoding scheme (n = 72 for size, n = 90 for compliance). (C) Experimental setup for the object discrimination task with the physical DEKA hand and DataGlove (n = 55). (D) Confusion matrix for the object size discrimination task using a linear stimulation encoding scheme. The compliance discrimination task with the DEKA hand was not performed for this subject. Illustration in (C) created by Kenzie Green and published under a CC BY open access license.