Fig. 2.

Forces at the digit tips, group average. In this and the following figures, the positive and negative direction of the torque refers to the torque exerted by the subject (which is in the opposite direction to the torque due to the loading). Hence, the supination torque efforts are negative and the pronation torque efforts are positive. The origin of the object-fixed reference frame is at the interception of the vertical and horizontal dotted lines.