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. 2022 Oct 11;12:17002. doi: 10.1038/s41598-022-21264-7

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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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Salient features of stimulation correlate with subjects’ ability to discriminate object size or stiffness. Standard deviational ellipses for (A) the rate of change of stimulation and stimulation onset lag when using the virtual DEKA hand and (B) the maximum stimulation amplitude and stimulation onset lag, when using the physical DEKA hand for Subject 2. The color of the ellipses represent object size and the line style represents object compliance. The centroid of each standard deviational ellipse represents the mean of the distribution for each object size and compliance.