Target torques for the six pairs of grasp surfaces
Surface curvature (m−1) | Target torque, nominal values (mNm) | |||||||
---|---|---|---|---|---|---|---|---|
31 | 44 | 55 | 66 | 88 | 114 | 156 | 189 | |
−50 | 65 ± 2.7 | 112 ± 3.0 | 154 ± 3.5 | 187 ± 5.0 | ||||
−25 | 65 ± 2.9 | 113 ± 3.3 | 154 ± 3.8 | 187 ± 3.5 | ||||
0 | 65 ± 2.7 | 112 ± 3.1 | 155 ± 4.1 | 188 ± 5.4 | ||||
50 | 65 ± 2.4 | 88 ± 3.0 | 114 ± 3.1 | 155 ± 5.1 | ||||
100 | 43 ± 2.7 | 65 ± 2.8 | 87 ± 3.0 | 113 ± 4.0 | ||||
200 | 31 ± 2.8 | 43 ± 2.7 | 54 ± 3.4 | 65 ± 2.8 |
For each of the six surfaces, four different exchangeable masses were used, resulting in four target torques in experiment 1. Torques (mNm) shown in the table are the mean ± SD over all trials and all subjects. The mean values differ slightly for different curvatures and differ slightly from the nominal values given in Materials and Methods because of the location of the contact points (see Materials and Methods) and variation in the tilt angle about the nominal value of 65°. In experiment 2, the nominal target torque was 74 mNm, and the actual torque used was 73 ± 2.6 mNm. The (nominal) target torque of 66 mNm was used with all curvatures. The bold entries indicate a block of 4 curvatures × 3 torques used in ANOVA.