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

<table>Five-fingered haptic interface robot: HIRO III. An operator connects his/her five fingertips to HIRO III through passive spherical permanent magnet joints.</table>

Journal of Robotics

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Figure 1

Figure 1: Human Perception Test of Discontinuous Force and a Trial of Skill Transfer Using a Five-Fingered Haptic Interface 