Fig. 7.

The 3 mode magnitudes vs. frequency in the noiseless simulation of the original task (simulation 1). The Compensation Mode explains almost all the force variability and only near the task frequency of 0.5 Hz (vertical red dashed line). The remaining variability is explained by the Hinge Mode, near the task frequency, which can be attributed to the curvature of the solution manifold (Fig. 3). The Grasp Mode does not contribute to force variability at any frequency.