Exp. 3B real-time results from two participants (TR1 and TR2) with below-elbow amputations using a prosthesis with electrotactile touch feedback during three different activities of daily living. Exp. 3B real-time results from two participants (TR1 and TR2) with below-elbow amputations using a prosthesis with electrotactile touch feedback during three different activities of daily living. When the prosthesis came into contact with an object, participants would receive electrotactile feedback from electrodes placed on the biceps of the residual limb. (A) The participants ascended and descended stairs for 5 min. (B) Rp was recorded during contact when the controller was not in use. The decreases in Rp are consistent with the decreases that occurred when applying electroconductive gel. (C and D) When the controller was in use, stimulation parameters were modulated to keep mE and mQ constant; however, mQ varied when the controller was not in use. Similar results are shown for hammering a nail (E to H) and exercising on an elliptical trainer (I to L) for 5 min. Breaks in the plots correspond to times when the prosthesis was not in contact with an object. In each activity, the participants reported a lack of sensation by the end of the activity when the controller was not in use but reported the sensation to still be present when the controller was in use. Aadeel Akhtar et al. Sci. Robotics 2018;3:eaap9770 Copyright © 2018 The Authors, some rights reserved; exclusive licensee American Association for the Advancement of Science. No claim to original U.S. Government Works