Fig. 2

Illustration of the two feedback encoding approaches. A1: Representation of hand aperture range of motion; A2: Representation of the wrist rotation range of motion; B, C and D: Vibromotor activations determined by the two encoding approaches for three different hand configurations (top). The Conventional feedback (middle) used two arrays of vibromotors to separately convey wrist rotation and hand aperture. The Compact feedback (bottom) employs a single array of vibromotors and transmits the feedback information by modulating the Gaussian mean (µ) for wrist orientation and standard deviation (σ) for hand aperture