Fig. 4

Overall performance in generating myoelectric commands and prosthesis forces for each task. For the EMG task (E, light grey), and the Prosthesis task without (P-, dark grey) and with (p+, black) feedback, the (per-subject) median absolute errors (MAEs), averaged across target levels 3 to 5, of the muscle activations and prosthesis forces are visualized using boxplots, depicting the median (circle), interquartile range (box), maximal/minimal values (lines) and outliers (pluses). Significant differences in MAE between the tasks are marked with an asterisk (p < 0.05, Bonferroni-Holmes-corrected in case of the myoelectric commands)