Table 2.

Contribution of each action signal

		Regression (Predicted ΔPSE Against Real ΔPSE)			PSE Error [N/m]		JND [N/m]
		Intercept [N/m]	Slope [au]	p-value	Force (Real = 0.16)	Stretch (Real = 20.64)	Force (Real = 12.13)		Stretch (Real = 14.95)
Training Signals	Accuracy	Intercept [N/m]	Slope [au]	p-value	Force (Real = 0.16)	Stretch (Real = 20.64)	Predicted	Error	Predicted	Error
All four signals	77.91 ± 0.003	12.53 ± 1.02	0.30 ± 0.03	0.06 ± 0.01	0.50 ± 0.27	2.17 ± 1.31	9.54 ± 0.35	2.59 ± 0.35	14.11 ± 0.36	0.84 ± 0.36
No grip force	75.54 ± 0.002	0.92 ± 0.77	−0.13 ± 0.03	0.10 ± 0.09	−4.07 ± 0.62	18.13 ± 0.56	10.71 ± 0.25	1.41 ± 0.25	10.34 ± 0.39	4.61 ± 0.39
Only grip force	68.48 ± 0.001	16.89 ± 1.97	1.11 ± 0.15	0.02 ± 0.04	−13.10 ± 2.34	−32.33 ± 2.28	48.57 ± 6.51	−36.44 ± 6.51	41.04 ± 1.86	−26.09 ± 1.86
No position	76.14 ± 0.001	12.27 ± 0.86	0.33 ± 0.03	0.03 ± 0.02	0.97 ± 1.20	2.38 ± 1.27	13.54 ± 0.38	−1.41 ± 0.38	15.57 ± 0.20	−0.62 ± 0.20
No velocity	77.89 ± 0.002	11.34 ± 0.46	0.35 ± 0.01	0.04 ± 0.01	0.04 ± 0.42	2.02 ± 0.40	9.55 ± 0.13	2.58 ± 0.13	14.35 ± 0.24	0.60 ± 0.24
No acceleration	76.67 ± 0.001	12.56 ± 0.80	0.43 ± 0.03	0.02 ± 0.01	0.60 ± 0.42	−0.32 ± 0.37	11.51 ± 0.13	0.62 ± 0.13	16.32 ± 0.22	−1.37 ± 0.22
Grip force and position	76.25 ± 0.003	13.55 ± 0.57	0.48 ± 0.03	0.02 ± 0.01	−0.02 ± 0.13	−2.90 ± 0.89	12.78 ± 0.42	−0.66 ± 0.42	17.55 ± 0.41	−2.61 ± 0.41

Bold is significant regression.