Fig. 2

a Example time course of the generated signals during a trial in the EMG task (a1) and in the Prosthesis Task (a2). The time windows used for computing the trial outcomes are marked, in the EMG task being the median EMG (a1, light grey) and in the Prosthesis tasks being the maximal force extraction and the median EMG before touch onset (a2, light and dark grey, respectively). b Exemplary sequence of target levels (black circles) and generated myoelectric commands and prosthesis forces (crosses) in the EMG task (b1) and the Prosthesis task without feedback (b2). The median absolute error in each trial (length of the line) was used for performance analysis. The first ten trials (indicated by the vertical dashed black line) were regarded as the familiarization phase of the task and thus excluded from the analysis