Fig. 4

Individual participant and object TRI-HFT measures: a. Mean manipulation score across all subtests for each individual study participant. The mean difference between the assisted and baseline condition is significant and constant (mean difference = 2.34, p < 3e-11, see 3F) b. Object manipulation improvement of each study participant from baseline to assisted relative to the maximum score = 7 (S1 mean = 35.77%, median = 30.16%; S2 mean = 55.13%, median = 51.43%; S3 mean = 31.85%, median = 31.43%; S4 mean = 30.37%, median = 37.14%; S5 mean = 35.03%, median = 36.51%; S6 mean = 23.49%, median = 25.71%; S7 mean = 51.85%, median = 62.86%; S8 mean = 12.38%, median = 14.29%; S9 mean = 16.19%, median = 14.29%) c. Mean score across all participants for each individual study object, listed in presentation order. Objects 1, 3, 5, 7, 10 represent the palmar grasp, object 2, 4, 6, 8, 9 pinch grasp, and objects 11–19 composed the wooden block strength subtest. The mean difference between the assisted and baseline condition is significant and constant (mean difference = 2.34, p < 3e-11, see 3F) d Mean lift force across all force measurements per study participant. The overall mean difference across participants between the baseline and assisted condition is significant (Wilcoxon signed-rank test, Z = − 4.28, p < 2e-5). * indicates significant difference with respect to the baseline condition, red stars denote means, red lines denote medians