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. Author manuscript; available in PMC: 2017 Feb 19.
Published in final edited form as: Neuroscience. 2015 Dec 14;315:150–161. doi: 10.1016/j.neuroscience.2015.12.012

Figure 1.

Figure 1

Model for finger force generation. Finger force generated by the fingertip in proportion to the difference between the nervous-system-defined referent coordinate (RFT) and the fingertip actual configuration (XFT). In Panels (A) and (B), the lab-fixed coordinate frame is conveniently located at the actual fingertip position, and the distance coordinate is measured positive upwards. Panels A and B depict the initial configuration and the configuration at the end of the upward perturbation of the sensor, respectively. Panel (C) depicts the sensor displacement vs fingertip force (absolute value) relation. The slope provides an estimate of the apparent fingertip stiffness (CFT), and the force-axis intercept provides the estimate of RFT.