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. 2015 Nov 6;9:118. doi: 10.3389/fncom.2015.00118

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Copyright © 2015 Casadio, Pressman and Mussa-Ivaldi.

This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) or licensor are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.

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Experimental set up and visual display. Subjects held the handle of a high-impedance robot manipulandum (HapticMaster—left panel) and exerted a contact force to preserve the shape and position of a white disk inside an orange ring attached to a bar (right panel). The ring defined the desired position and shape of the disk. Subjects were to exert a contact force in the forward -y- direction to prevent the disk from changing shape. (A) The contact force is equal to the desired force; therefore the display is static with a round white disk inside the orange ring. The disk doesn't change shape and doesn't move. (B) The measured contact force is smaller than the required one, thus the disk elongates. (C) The contact force is bigger than desired, then the disk shrinks. An error in lateral force causes the disk to translate along the bar.