Fig. 4

Control symmetry of the prosthetic hand remained about constant though all phases, however prosthetic wrist movements started symmetric before shifting towards more frequent pronation. Powered wrist pronation and supination were only added at the start of the Cybathlon training phase, and control simultaneity was higher during Cybathlon training than post-Cybathlon. Plotted values are a moving average of 5 datalog sessions, to improve readability. Solid lines show the proportion of single degree of freedom commands for each given movement, while dotted lines show the additional two degree of freedom commands for the movement. Vertical black bars indicate the breaks between the pre-Cybathlon, Cybathlon training, and post-Cybathlon datalogs