Table 3 Stages of each session

B

Baseline: trials during baseline phase without disturbance

Bc

Baseline catch: trials with unexpected activation of disturbance torque during baseline phase

Ts

Training start: first 10 trials of the training phase – with disturbance torque

Te

Training end: last 10 trials of the training phase – with disturbance torque

Es

Evaluation start: first 10 trials of the evaluation phase – with disturbance torque

Ee

Evaluation end: last 10 trials of the evaluation phase – with disturbance torque

Ec

Evaluation catch: trials with unexpected removal of disturbance torque during evaluation phase

Br

Baseline ratio: unexpected arm force ratio change during the baseline phase without disturbance torque (50%:50%⇔75%:25%)

Er

Evaluation ratio: unexpected arm force ratio change during the evaluation phase with disturbance torque (50%:50%⇔75%:25%)