Table 1. Haptic environments used during endpoint tracking.

Subject	Strength of Unstable Haptic Environment (N/m)
	X	Y	Z
1*	−500	−500	−500
2*	−500	−500	−500
3*	−500	−500	−500
4	−500	−500	−500
5	−500	−500	−500
6*	−300	−300	−300
7*	−500	−400	−300
8	−500	−500	−500

^*denotes that subject participated in endpoint stiffness experiment.