Research Article
Human Perception Test of Discontinuous Force and a Trial of Skill Transfer Using a Five-Fingered Haptic Interface
Table 1
Specifications of HIRO III.
| Hand | Number of fingers | 5 | Degrees of freedom | 15 (DOF) | Weight | 0.78 (kg) |
| Finger | Degrees of freedom | 3 (DOF) | Weight | 0.12 (kg) | Maximum output force | over 3.6 (N) | Workspace | 705 () (Thumb) | 587 () (Other) |
| Arm | Degrees of freedom | 6 (DOF) | Weight | 3.0 (kg) | Maximum output force | over 56 (N) | Workspace | 0.09 () |
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