Table 2 Comparisons of measured and simulated forces and moments of six grasping conditions.

	Thumb			Index			Thumb	Index
	F_i [N]	F_j [N]	F_k [N]	F_i [N]	F_j [N]	F_k [N]	M_k [Nm]	M_k [Nm]
Fingertip
A. center
measured	0.90	− 0.32	− 2.62	1.05	0.18	2.64	− 0.0001	− 0.0011
simulated	0.90	− 0.63	− 3.02	1.04	0.54	3.03	− 0.0019	− 0.0023
Δ	0.00	− 0.32	− 0.40	− 0.01	0.35	0.39	− 0.0018	− 0.0013
B. far side
measured	0.34	− 0.26	− 8.11	0.68	− 1.30	8.08	0.0034	− 0.0016
simulated	0.55	− 0.93	− 7.35	0.71	− 0.55	7.42	− 0.0043	− 0.0028
Δ	0.21	− 0.68	0.77	0.03	0.76	− 0.66	− 0.0078	− 0.0012
C. near side
measured	0.16	− 0.46	− 5.03	0.84	− 1.09	4.94	− 0.0005	− 0.0066
simulated	0.34	− 0.93	− 4.85	0.52	− 0.81	4.78	− 0.0084	− 0.0069
Δ	0.19	− 0.47	0.18	− 0.32	0.28	− 0.17	− 0.0079	− 0.0003
Finger pulp
D. center
measured	0.84	− 0.37	− 3.70	1.09	0.32	3.79	− 0.0033	− 0.0069
simulated	1.30	0.32	− 3.60	0.95	− 0.19	3.61	− 0.0015	− 0.0052
Δ	0.45	0.69	0.10	− 0.13	− 0.51	− 0.18	0.0018	0.0017
E. far side
measured	0.66	− 0.62	− 4.06	1.27	0.63	4.09	− 0.0063	0.0029
simulated	1.31	0.36	− 3.49	0.64	− 0.42	3.51	0.0005	0.0037
Δ	0.65	0.98	0.58	− 0.64	− 1.05	− 0.58	0.0068	0.0008
F. near side
measured	0.13	− 0.66	− 3.31	0.78	− 0.92	3.44	− 0.0021	− 0.0077
simulated	0.98	− 0.94	− 3.92	− 0.19	− 0.84	3.90	0.0007	− 0.0110
Δ	0.84	− 0.28	− 0.61	− 0.97	0.09	0.45	0.0027	− 0.0033
Accuracy	0.39	− 0.01	0.10	− 0.34	− 0.01	− 0.12	− 0.0010	− 0.0006
Precision	0.32	0.68	0.54	0.39	0.65	0.47	0.0059	0.0018

F_i, F_j, and F_k are the load (vertical), transverse and grip (normal) forces, respectively, represented in the object coordinate system.
M_k is the torsional moment at the center of pressure around a normal to the contact surface.

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