Fig. 5
From: Improving bimanual interaction with a prosthesis using semi-autonomous control
Feedback coding scheme used to indicate the system’s current state. Depending on the state, the tactors can vibrate either once (× 1) or twice (× 2). UNI, BY-ASYNC and BI-SYNC denote that unilateral, bilateral asynchronous and bilateral synchronous movements were detected by the system, and that the corresponding automatic control specific to the detected class was activated