Fig. 3

Study protocol. Participants were randomly assigned to one of four possible training modalities: Visuo-Haptic, Supported Visuo-Haptic, Visual, or Supported Visual. Training blocks (× 20) and catch-trials blocks (× 4) were used to assess the effect of providing haptic rendering and arm weight support on motor performance during training. Changes from baseline blocks (BL) to short-term retention (STR) and long-term retention blocks (LTR) were used to assess participants’ motor learning and had the Visuo-Haptic modality. Transfer learning was assessed with changes from transfer baseline blocks to short- and long-term transfer retention blocks, also with the Visuo-Haptic modality, but with a shorter pendulum (i.e., different dynamics). Participants’ sense of agency and motivation were assessed with questionnaires after baseline, training, and long-term retention blocks