Fig. 1

The placement (a) and coding (b) of the vibrotactile feedback coding scheme (VFS). The touch, DoF switching and grasping force (blue annotations) are coded into stimulation patterns (red annotations) presented on the contralateral side. The tactors can be active at a specified vibration intensity (light red – low intensity, dark red – high intensity) or inactive (white). Activation pattern (red pulses) can be either two short bursts, one burst, or a single prolonged burst. The information was coded using vibration bursts of different duration, location and amplitude (see text for explanation). Abbreviations: BD (burst duration) – the duration of a vibration burst