Table 1.

Feedback (haptic and visual) during reaching and matching movement in the five force conditions.

	Criterion movement		Matching movement		Removal/Reset movement
	Haptic feedback	Visual feedback	Haptic feedback	Visual feedback	Haptic feedback	Visual feedback
HR Resistive elastic force	✓ Constant opposing torque	✓	✓ Constant opposing torque		✓ Constant opposing torque	✓
LR Resistive elastic force	✓ Constant opposing torque	✓	✓ Constant opposing torque		✓ Constant opposing torque	✓
V Resistive viscous force	✓ Speed-dependent opposing torque	✓	✓ Speed-dependent opposing torque		✓ Speed-dependent opposing torque	✓
P Passive elastic force	✓ Elastic assistive torque				✓ Elastic assistive torque
NF no force		✓				✓