Fig. 6

Representation analysis. a The actual manipulation forces (dashed red) and model (solid red) for the group with skin-stretch in the opposite direction to the force-field (g = − 100). The motor primitives that were used for modeling the manipulation force are position (dashed purple), and velocity (dashed green). b and c are as in (a) for the control group (g = 0, yellow) and the group with skin-stretch in the same direction as the force-field (g = 100, blue), respectively. d The mean gain across participants of the position (purple) and velocity (green) primitive that was required in order to model the manipulation forces in every force channel trial in Adaptation. The results are presented for the three group of g = − 100 (red triangle) and g = 0 (yellow diamond), and g = 100 (blue circle). Shaded gray region indicates the trials that were used for the representation and statistical analysis. e Mean and ± SE over the three last force channel trials in Adaptation for each motor primitive in every group. Colors are as in (d), and the dots represents the data from each participant