Two-Fingered Haptic Device for Robot Hand Teleoperation

<table class="table-group" width="800px"><tr class="fig-image" id="a"><td><img alt="419465.fig.0012a" src="https://static.hindawi.com/articles/jr/volume-2011/419465/figures/419465.fig.0012a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b>IP joint angle</td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="419465.fig.0012b" src="https://static.hindawi.com/articles/jr/volume-2011/419465/figures/419465.fig.0012b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b>MP joint angle</td></tr></table></td></tr><tr class="fig-image" id="c"><td><img alt="419465.fig.0012c" src="https://static.hindawi.com/articles/jr/volume-2011/419465/figures/419465.fig.0012c.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(c) </b>CM joint angle</td></tr></table></td></tr></table>

<table>Joint angles of thumb for robot and operator.</table>

Journal of Robotics

fig12

Figure 12

Figure 12: Two-Fingered Haptic Device for Robot Hand Teleoperation 