Figure 6

Tracking error and information transmission rate as function of frequency of the EMG- (blue), force- (green) and joystick-based (red) control interfaces. (A) Accumulative tracking error as function of frequency for each control interface. (B) Accumulative information transmission rate as function of frequency for each interface. (C) Tracking error per frequency of each control interface. (D) Information transmission rate per frequency for each interface. The solid lines indicate the mean values and the area in faded colors indicate ±1 SD. The dashed vertical lines indicate from which frequency the parameter presents statistically significant differences. The solid vertical lines indicate at which frequencies the parameter present statistically significant differences. Stars indicate statistically significant differences. (*) indicates p <0.05 and (**) indicates p <0.001. The text on top of the vertical lines indicate between which of the interfaces the differences were statistically significant.