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. 2022 Aug 2;12:13247. doi: 10.1038/s41598-022-16962-1

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© The Author(s) 2022

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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Custom-made wireless fingertip force-sensing device. The device consisted of two six-axis load cells, amplifiers, A/D converters, and Wi-Fi modules with batteries. An aluminum plate (20 mm × 49 mm) was attached to each load cell so that the forces applied by the thumb and index fingers could be measured independently. The amplifiers, A/D converters, and Wi-Fi modules with batteries were attached to the top and bottom of the load cell housing. The vectors i,j,k represent the sensor-fixed local coordinate system.