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Mean ± SE voluntary grip force and minimum required grip force as a function of push force for the aluminum and rubber surfaces (10 subjects’ data pooled). The difference between the voluntary and minimum required grip forces is safety margin. Grip force and push force are normalized to each subject’s grip strength and push strength, respectively. The five different push forces correspond to 20%, 40%, 60%, 80%, and 100% of maximum push force in lateral pinch for each grip surface.
