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.0015a" src="https://static.hindawi.com/articles/jr/volume-2010/542360/figures/542360.fig.0015a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b>Experimental environment</td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="542360.fig.0015b" src="https://static.hindawi.com/articles/jr/volume-2010/542360/figures/542360.fig.0015b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b>The virtual object</td></tr></table></td></tr><tr class="fig-image" id="c"><td><img alt="542360.fig.0015c" src="https://static.hindawi.com/articles/jr/volume-2010/542360/figures/542360.fig.0015c.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(c) </b>The coordinate system of HIRO III</td></tr></table></td></tr></table>

<table>Experimental environment of skill transfer.</table>

Journal of Robotics

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Figure 15

Figure 15: Human Perception Test of Discontinuous Force and a Trial of Skill Transfer Using a Five-Fingered Haptic Interface 