Speed-accuracy tradeoff of fingertip force control with visual/audio/haptic feedback.

•Fingertip force control process obeyed Fitts’ law in each single sensory modality (visual/audio/haptic) when the difficulty level was within a specific range.•The response time in the audio feedback mode was the shortest among the three feedback conditions while that in the haptic feedback mode was the longest.•The Linear model has the best fit in all three feedback modes among all three models.