|  | User training sets | ||||
 |  | 3-DoF | 4-DoF | 4-DoF | 4-DoF | 4-DoF |
DoF Trained | Wrist Pro/Supinate |  √ |  √ |  √ |  √ |  √ |
Wrist Flex Extend |  √ |  √ |  √ |  √ |  √ | |
D2 Flex Extend |  √ |  √ |  √ |  √ |  √ | |
D3-5 Flex Extend |  |  √ |  |  |  | |
Thumb Ab/Adduct |  |  |  √ |  |  | |
Thumb Flex/Extend |  |  |  |  √ |  | |
Radial-Ulnar Deviate |  |  |  |  |  √ | |
Usable | S6 Controllers | 3D | Â | Â | TH | RU |
S8 Controllers | 3D | Â | TH | Â | RU |