10.1371/journal.pone.0171706.g004 Jelizaveta Konstantinova Jelizaveta Konstantinova Giuseppe Cotugno Giuseppe Cotugno Prokar Dasgupta Prokar Dasgupta Kaspar Althoefer Kaspar Althoefer Thrishantha Nanayakkara Thrishantha Nanayakkara Constraints of the finger motion during single point palpation. Public Library of Science 2017 order reactive autoregressive model Palpation force modulation strategies indentation tip palpation strategy 22.3 Hz tissue palpation stiffness perception stiffness parameters force control pattern force modulation strategies silicone phantoms show tissue organs results show force control Experimental results 2017-02-15 20:04:53 Figure https://plos.figshare.com/articles/figure/Constraints_of_the_finger_motion_during_single_point_palpation_/4656688 <p>For <i>F</i><sub><i>x</i></sub> (direction is chosen for this example), the finger can move freely in both directions, but in the case of <i>F</i><sub><i>y</i></sub> (direction is chosen for this example), the motion is limited by a finger joint.</p>