Fig. 5

Summary of subjective ratings. The condition questionnaire (a) addressed the subjective impression of the feedback (sensation pleasantness, comprehension, benefit, and attentional demand, first four items) as well as the overall task workload (NASA TLX), and the prosthesis embodiment across different conditions (NFB/FB, last two items). The final questionnaire (b) summarizes the overall impression about the potential daily benefit of feedback in general, the present feedback coding scheme, and its different feedback variables (‘Touch’, ‘Force’, ‘DoF-Switch’). Boxplots depict the median (circle), interquartile range (box), maximal/minimal values (line) and outliers (+). Stars denote statistically significant differences (*, p < 0.05). Abbreviations: VFS – vibrotactile feedback coding scheme, NFB – without supplemental feedback; FB – with supplemental feedback