Table 1 Stimulation parameters used for each task.

TaskSensory encoding algorithm(s)USEA electrodesAmplitude
(μA)
Frequency
(Hz)
Duration
(μs)
Fragile object (first set)Traditional linear2, 5, 6, 9, 10, 12, 15, 16, 20, 2580–10010–100200
Fragile object (second set)Traditional linear2, 5, 6, 9, 10, 12, 15, 16, 20, 23, 2570–10010–100200
GRIPBiomimetic 15, 6, 9, 10, 12, 15, 16, 20, 2380–9510–200320
Size discriminationBiomimetic 12, 5, 6, 9, 10, 12, 15, 16, 20, 2380–9510–200200
Size discriminationBinary5, 6, 9, 10, 12, 15, 16, 20, 25, 26100100320
Compliance discrimination (first set)Biomimetic 1 versus traditional linear2, 5, 6, 9, 10, 12, 15, 16, 20, 2390–10010–200200
Compliance discrimination (second
set)
Biomimetic 1 versus traditional linear2, 5, 6, 9, 10, 12, 15, 16, 20, 2380–9510–200320
Compliance discrimination (first set)Biomimetic 1 versus scaled traditional
linear
2, 5, 6, 9, 10, 12, 15, 16, 20, 2380–9510–200320
Compliance discrimination (second set)Biomimetic 1 versus scaled traditional
linear
5, 6, 9, 10, 12, 15, 16, 20, 23, 25, 2680–10010–200320
Compliance discriminationBiomimetic 2 versus scaled traditional
linear
5, 6, 9, 10, 12, 15, 16, 20, 23, 25, 267010–400320
ADL (first set)Traditional linear23, 26, 33, 41, 42, 47, 6370–10010–100200
ADL (second set)Traditional linear23, 26, 27, 33, 3460–100100200
ADL (third set)Traditional linear9, 10, 2080–10010–100200