Endpoint stiffness is adapted to the curvature of the objects for forces in the main study: negative x-direction. A, Endpoint stiffness represented as an ellipse for all subjects (S1–S6), object curvatures (color codes shown), and experimental sessions. B, Mean ± SEM size of the stiffness ellipses for the different objects for the blocked (red circles) and random (blue squares) sessions. C, Mean ± SEM orientation of the stiffness ellipses.