Figure 13.

Assignment of virtual fingers in the observed execution hand pose combinations and their controlled task demands in the free-base condition (A) and the fixed-base condition (B). Hand pose combinations in the small figures correspond to the categories in Fig. 5. The shade of the color bar is proportional to the values. The hand pose combinations that were only used to control the perturbation are highlighted in gray color; hand pose combinations that are assigned 1, 2, and 3 virtual fingers are highlighted in green, red, and yellow color, respectively. The number of trials in which such hand pose combinations were used are denoted as percentage. VF, virtual finger.