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. 2018 Oct 23;8:15643. doi: 10.1038/s41598-018-33678-3

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© The Author(s) 2018

Open Access This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made. The images or other third party material in this article are included in the article’s Creative Commons license, unless indicated otherwise in a credit line to the material. If material is not included in the article’s Creative Commons license and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this license, visit http://creativecommons.org/licenses/by/4.0/.

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Force matching task illustration. Illustration of the force matching task. In each trial, a torque motor pseudorandomly applied one of four force levels (target force) through a lever to the participants’ left index finger. Participants were asked to match the force they had just sensed (matched force) either by pressing the lever with their right index finger (‘Direct’ condition); or by sliding a linear potentiometer which controlled the torque motor (‘Slider’ condition).