Requested tasks for each subject
| Subject | Posture maintenance tasks | 5 N (8 directions) | Force regulation task | ||
|---|---|---|---|---|---|
| (a–f) | 10 N (16 directions) | 15 N (16 directions) | 20 N (16 directions) | ||
| A | PC, MC, DC, PL, PR | PC, MC | PC, MC, DC, PL, PR | PC, MC | PC |
| B | PC, MC, DC | PC | PC, MC, DC | PC | PC |
| C | PC, MC, DC | PC | PC, DC, PL, PR | PC | |
| D | PC, MC, DC | PC | PC, MC, DC | PC | |