Fig. 6From: Continuous supplementary tactile feedback can be applied (and then removed) to enhance precision manipulationOn the left, histogram with total relative failure rates for each feedback modality, computed as the sum of slip and broken failures for each phase for all the participants, divided by the total number of trials occurrences of failures of each condition. On the right, the relative failure rates divided by grasp phase, computed as the sum of slip and broken failures for each phase for all the participants, divided by the total occurrences of failures of each condition.Back to article page