Figure 4.

Adapted response. Contact force profile against the softer environment. (A–F) Parallel control model results. (G–L) Experimental results (mean ± s.d. over all subjects) in vision (darker intervals) and no vision condition. The model controller is able to recover the desired force profile (A–C) and the corresponding motion trajectory (D–F). The experimental data indicate that subjects, with respect to the initial response phase, were able to generate the required forward force (G–I) and the corresponding motion trajectory (J–L). The panels on the right (C,F,I,L) display the vector plots of the applied forces and endpoint motions.