Human Perception Test of Discontinuous Force and a Trial of Skill Transfer Using a Five-Fingered Haptic Interface

<table class="table-group" width="800px"><tr class="fig-image" id="a"><td><img alt="542360.fig.0016a" src="https://static-preview.hindawi.com/articles/jr/volume-2010/542360/figures/542360.fig.0016a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b>Force trajectories: middle finger</td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="542360.fig.0016b" src="https://static-preview.hindawi.com/articles/jr/volume-2010/542360/figures/542360.fig.0016b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b>Position trajectories: middle finger</td></tr></table></td></tr></table>

<table>The force and position trajectory of the trainer.</table>

Journal of Robotics

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Figure 16

Figure 16: Human Perception Test of Discontinuous Force and a Trial of Skill Transfer Using a Five-Fingered Haptic Interface 