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Endpoint stiffness is adapted to the curvature of the objects for forces in the second study (positive-y direction). A, Endpoint stiffness represented as an ellipse for all subjects (S1-S7) and object curvatures (color codes shown). B, The elements (± sem) of the endpoint stiffness matrix. Only Kxx shows a significant increase with object curvature. C, Changes in the ratio of Kyy and Kxx of the stiffness matrix.
