Examples of holding tasks.

<p>A: Precision Grip (PG), B: Pinch Grip (PI), C: Power Grasp (PO), D: Top Grasp and move (TO). Each figure represents one trial in the same representative subject. The upper part of each figure represents the evolution of the time forces on the faces of the object and the lower part the variations in the orientation of the object according to the 3 axis (see color legends in D). Phases and vertical stippled lines: same legend as <a href="http://www.plosone.org/article/info:doi/10.1371/journal.pone.0178185#pone.0178185.g004" target="_blank">Fig 4</a>.