Fig. 5

Temporal sensor frequencies for PC1 and PC2 and delays between themselves. The temporal sensor frequencies and delays fpr PC1 and PC2 of left and right hands, calculated for dominant components of a cluster. a Normalized frequency spectra in which blue denotes PC1 and red PC2, and b histograms of the delays between PC1 and PC2 in frames (1 frame = 0.02 s). Almost all the represented dominant components of PC1 and PC2 arise within 1 s manipulation corresponding to a related changing grasp configuration at that time window