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Experimental setup. (A) Top view of the setup with the right index finger and thumb resting on the start position, and both object positions (black rectangles). (B) Illustration of the backside of the inverted T-shaped object with the three infrared markers (white circles) and the touch sensors fixed to the grasping area of the object. The three tubes in the object’s base were never visible to the participant. The brass mass is depicted to the left of the object.
