Procedure of the haptic experiment (A) and the visual experiment (B). In the haptic experiment, subjects were blindfolded and cued by auditory signals to start and stop exploring the stimulus with their right hand. A baseline motor control condition was included, where the subjects pantomimed the haptic exploration of the former stimulus without any actual stimulus input. In the visual experiment, subjects were asked to perform a one-back task that required them to press a button with their right index finger when the current stimulus was the same as the one immediately before it.