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The objects used for the grasping task. From the left to the right, a cylinder made from Balsa wood from the kit of objects from the SHAP (Light et al., 2002) (diameter 60 mm, weight 30 g), a compliant foam tennis ball (diameter 70 mm, weight 12 g), and a clothespin from the Rolyan Graded Pinch Exerciser kit (model Yellow, 1 lb Pinch Exerciser, weight 20 g).
