The grippers were custom-made and consisted of two force transducers (FSG15N1A, Honeywell, NJ, USA) placed between two moulded plastic bars [92 (link)]. A continuous recording of the differential voltage signal, proportional to the exerted force, was acquired, fed into a signal conditioner (CED 1902, Cambridge Electronic Design, Cambridge, UK), digitized (CED 1401, Cambridge Electronic Design, Cambridge, UK) and fed into the computer running the stimulus presentation using Cogent (http://www.vislab.ucl.ac.uk/cogent_graphics.php). This enabled us, during effort trials, to give online feedback reflecting the exerted force using the thermometer display.
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