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. Author manuscript; available in PMC: 2023 Apr 7.
Published in final edited form as: IEEE Trans Neural Syst Rehabil Eng. 2023 Feb 1;31:426–436. doi: 10.1109/TNSRE.2022.3226067

Fig. 1.

Fig. 1.

A. Hand grasping a cup of coffee. The cup of coffee was simplified to a two-dimensional arc with a rolling ball inside representing the sloshing coffee. B. Mechanical model of a cart with a suspended pendulum to represent the dynamics of the object. C. Implementation of the task in a virtual environment. Subjects controlled the position of the 2D cup via a robotic manipulandum, with the handle shown in the inset. The ball forces were transmitted back on their hand. D. Screen display with the cup and ball and the target boxes as participants see during the experiment.