Now that Zelda has gone Open World, will it ever go back?

[PAOerfulone]

4 million units sold is disappointing?

Because if we take VGC data of all the units all Zelda games have sold, not counting spinoffs, (83.39) and divide by the number of Zelda games released (27), that gives us an average of 3.08 million units sold for each individual Zelda game. So, Skyward Sword is close to a million above the average.

If we look at just the 3D games, not counting remakes, we get we get 28.26 / 5 = 5.65 million units sold. In that case, Skyward Sword was disappointing, but the ony 2 games who sold above that mark (Twilight Princess - 8.75, Ocarina of Time - 7.60) sold WAY above that mark. 
Otherwords, I think they were satisfied with Skyward Sword sales wise.