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. 2021 May 27;11:11227. doi: 10.1038/s41598-021-90533-8

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© The Author(s) 2021

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 licence, and indicate if changes were made. The images or other third party material in this article are included in the article's Creative Commons licence, unless indicated otherwise in a credit line to the material. If material is not included in the article's Creative Commons licence 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 licence, visit http://creativecommons.org/licenses/by/4.0/.

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Experimental set-up and unit locations on the hand. (a) Stimtac unit mounted on the robot platform and its adjustable mount. (b) Locations of the centers of Receptive Fields (RFs) of the 8 mechanoafferent units evaluated in the paper. (c) Summary table of the unit characteristics, from top to bottom: unit label, location (2–3–4 for index-major-ring fingers; prox proximal, dist distal, mid middle, dor dorsal), Von Frey threshold, protocols performed, and number of repeats of blocks per unit.