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 (${\text{cm}}^3$) (Thumb)
		587 (${\text{cm}}^3$) (Other)
Arm	Degrees of freedom	6 (DOF)
	Weight	3.0 (kg)
	Maximum output force	over 56 (N)
	Workspace	0.09 (${\text{m}}^3$)