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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. 4.

Fig. 4.

Model sketches and 3D-printed rendering of the cup and ball with different dimensions (radius of curvature and rim height); θ indicates the angle of the rim height. A. Model of the Deep Cup No Ball. B. Model of the Deep Cup With Ball. C. Model of the Shallow Cup With Ball. D. Real 3D-printed Deep Cup No Ball. E. Real 3D-printed Deep Cup With Ball. F. Real 3D-printed Shallow Cup With Ball.