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Direction-Specific Effects of Artificial Skin-Stretch on Stiffness Perception and Grip Force Control

We previously showed that applying artificial skin-stretch together with, and in the same direction as, kinesthetic force increases the perceived stiffness. Here, we investigated the effect of artificial stretch in the same and opposite directions of the applied kinesthetic force on stiffness perceptions and grip force control. Preliminary results showed that the negative stretch affected different participants in different ways. Additionally, participants appeared to apply higher grip force during interactions with negative stretch compared to trials with positive stretch.