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An illustration of the uncontrolled manifold (UCM) for the total force (UCMF) and total moment of force (UCMM) for a 3-finger force-production task and 2 locations of the pivot (Pivot-1 and Pivot-2). An interaction of 2 UCMs corresponds to force values that stabilize both the total force and the total moment (lines DF and DE). Note that no enslaving has been assumed in this illustration.
