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. 2011 Dec 6;11(12):11495–11509. doi: 10.3390/s111211495

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© 2011 by the authors; licensee MDPI, Basel, Switzerland.

This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution license (http://creativecommons.org/licenses/by/3.0/).

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Figure 9. — Task segmentation during the manipulation of a bottle containing liquid. Figures above show different segmented stages of the task and the figures below show the recorded forces. (A) Approaching the bottle. (B) Grabbing the bottle increasing the force. (C) Lifting the bottle vertically. (D) Tilting the bottle. (E) Holding the bottle in a horizontal state. (F) Tilting the bottle. (G) Holding the bottle upside down. (H) Tilting the bottle back. (I) Holding the bottle in a horizontal position. (J) Tilting the bottle back. (K) Holding the bottle in a vertical position. (L) Releasing the bottle.