Fig. 4

Phase one: The latching filter (LF) improves prosthesis control, sometimes at the cost of speed, and combination training improves control accuracy and speed. a The latching filter significantly reduced dropped clothespins for the MLP and CNN. b The latching filter significantly increased transfer time for the mKF and CNN, and significantly reduced transfer time for the MLP. c The latching filter significantly reduced the subjective workload for the MLP, evidenced by a lower NASA Task Load Index (TLX) score. d Combination training significantly reduced dropped clothespins for the MLP and CNN. e Combination training significantly reduced transfer times for the MLP and CNN. f Combination training significantly reduced the subjective workload for the CNN, evidenced by a lower NASA Task Load Index (TLX) score. In these comparisons, the variable being compared contains aggregate data from the variable not being compared (e.g., in LF comparisons, each group contains both single and combination training types). Boxplots show median (red line), inter-quartile range (blue box), and most extreme, non-outlier values (1.5 × inter-quartile range; black whiskers)