Figure 4

Virtual arm angular position and velocity profiles and magnitude of vibrotactile feedback (VIBF) for each of three VIBF discrimination conditions. In a position‐based VIBF discrimination condition, the maximum excursion of the virtual arm was varied (A). In a second position‐based VIBF discrimination condition, both the maximum excursion and stopping location of the virtual arm were varied (B). Finally, in a velocity‐based VIBF discrimination condition, the maximum virtual arm angular velocity was varied (C). Kinematic profiles for the standard (black), the initial comparison (blue), and one intermediate comparison (red) are shown (see text for details).