In the original article, there was a mistake in the legend for Figure 16 as published. We made an error on the numeric value of the significance level. The correct legend appears below. “The mean rating of the four haptic feedback methods to renderthe contact force at the fingertip. The questionnaires are Q1: “Is the contact force realistic?,” Q2: “Can you feel the contact force at the fingertip?,” Q3: “Is the contact force unrealistic?” (the negative question of Q1), and Q4: “Can you not feel the contact force at the fingertip?” (the negative question of Q2). Error bars indicate the standard errors. ?p 0.05, ???p 0.001.”.
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