Figure 9.

Classification accuracy for different number of possible outputs. If the number of possible outputs (i.e., hand preshape commands) that the IF-THEN rules can generate is decreased, the success rate improves. Groups: 1 - all grasp types and sizes, 2 - two grasp sizes for the lateral and palmar grasps and one grasp size for the 3-digit and 2-digit grasps; 3 - only grasp types (i.e., one grasp size for all grasp types).