Figure 2.

Summary of the converged torque values. For the icons below the x-axis illustrating each experimental condition, please refer to Fig. 1d. (a) The JND resulting from the static tests. All subject data is shown with gray lines, and the black line is the mean of the data. (b) The JND torque from dynamic tests, where the arm is in motion at different speeds. The black line is the median of the data. The black $\times$s indicate that the data exceeds the maximum device output, which is 1.1 Nm.