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Grasp order of each condition. Breakdown of the direction of transfer and direction of torque used for each condition. 10 participants performed lifts in condition 1 and another 10 participants performed lifts in condition 2. Center of mass order was counterbalanced. Trial 1 for both conditions represents participants’ first lift with the object. Trial 11 represents the first post-transfer lift. Trials 10, and 20 represent the last lift in either grasp type.
