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. Author manuscript; available in PMC: 2010 Jun 25.
Published in final edited form as: Conf Proc IEEE Eng Med Biol Soc. 2009;2009:5938–5941. doi: 10.1109/IEMBS.2009.5334751

Fig 4.

Fig 4

Average stiffness size across eight subjects for the (A) primary, (B) secondary, and (C) tertiary ellipsoid axes during interaction with each of the haptic environments.