Table 1.

Selected density values for haptic rendering of different virtual water conditions: Water density characteristics column lists the magnitude of perceived water resistance forces.

Condition and density ($\frac{kg}{m^3}$)	Water density characteristics	Water color in visual scenario	Provided session
A: ρ = 200	Very low	Purple	Baseline and transfer
B: ρ = 400	Low	Orange	Training for VD
C: ρ = 1100	Normal	Blue	Baseline, training and retention
D: ρ = 1800	Above-average	Red	Baseline and transfer
E: ρ = 2500	High	Green	Training for VD
F: ρ = 3200	Very high	Yellow	Baseline and transfer

Water color in visual scenario column lists the visual rendering of the water scenario on the screens.