Fig. 5

Analysis of trajectory properties with and without shared control. a A box plot distribution of hand translation speeds across all time bins while the hand was less than 10 cm above the table during successful trials. The red line is the median speed, the blue box show the interquartile region, and the whiskers span the 5th-95th percentile. The speed distribution for assisted trials for both subjects skews low indicating that the hand was steadier when approaching the object. b Subject 1’s path lengths during successful trials, first for the full trials, then separated by the path length before the first grasp attempt and the path length after the object was grasped. Error bars span the interquartile region. The assisted trials benefit the most during the pre-grasp portion of the trial. c Subject 1’s hand trajectories with median path lengths for their assistance condition. The color shows the grasp aperture. The release point is marked where the hand opened to allow the object to drop onto the platform. We did not specify to the subject how the object had to be placed, or released, onto the platform. Additional file 2: Movie S2 shows both trials