Figure 4

Tasks and results from experiments 1 and 2. The figures show (a) the subject’s posture with no contact (NC) anywhere, (b) NC with the hand moving to touch the virtual partition without feedback (NF), (c) NC with constant stimulation applied to the fingertips (CS), (d) light touch with a piece of paper hanging to the subject’s right (LT), and (e) virtual light touch with the right hand (proposed method; VLT). (A) Tasks for each condition (B) Experimental results; from top to bottom: 3D fingertip position; acceleration RMS; (C) COP trajectories for each task.