Figure 2From: Psycho-physiological assessment of a prosthetic hand sensory feedback system based on an auditory display: a preliminary studyExperiment setting block diagram. The subjects controlled the robot hand’s motion using a Data Glove. The different profiles of the robot hand movements were mapped to sounds and conveyed back to the subjects. During tests, the experimenter forced one of the robot hand’s fingers to stop moving, which generated an error signal that was conveyed back to the subject as an auditory icon.Back to article page