Fig. 3: Distal phalanx sensitivity.

a Devices used. Sensitivity across fingers and areas is illustrated as b the average internal pressure of the chambers (haptic system) and the average theoretical applied pressure (handheld device: von Frey hairs), where the magnitude of the pressure is linked to the color intensity of the areas. c Sensitivity across areas and fingers is also presented as the applied force in the finger, where the median is highlighted with a notch, + are outliers, and each box’s limits are the second and third quartiles. ∗, ∗∗, and ∗∗∗ represent statistical significance with p ≤ 0.05, p ≤ 0.01, and p ≤ 0.001, respectively.