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. 2019 Feb 11;9:1737. doi: 10.1038/s41598-018-38421-6

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© The Author(s) 2019

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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Experimental setup and analysis method. (a) Participants placed their fingers on four custom-made force sensors and their palm on a cushion material. (b) A screen was displayed to the participants during a multi-digit force-sharing task. A cursor (red circle) moved from left to right. Its horizontal speed was constant, while its vertical position was proportional to the total force generated by the four fingers. The cursor was visible during a visual feedback phase (left half of screen) but disappeared during a feedforward-control phase (right half). (c) Typical force trajectory in a participant’s ‘success’ trial. A moving cursor was visible on the solid trajectory but invisible on the broken trajectory. The open circle indicates the force peak at which a stationary cursor appeared at the end of the trial. (d) Task schedule of multi-digit force-sharing task. Total finger force F_TOT consists of the finger forces generated by the index (F_I), middle (F_M), ring (F_R), and little (F_L) fingers. Middle finger force F_M is weighted by the coefficient C. The value of weight coefficient C was changed according to the sequence in the bottom panel.