Fig. 5

Performance in generating prosthesis forces for each analyzed target level. For the Prosthesis task without (P-, dark grey) and with (P+, black) feedback, the (per-subject) median absolute errors (MAEs) 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)