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Journal of Robotics
Volume 2010 (2010), Article ID 542360, 14 pages
Research Article

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

Department of Human and Information Systems, Gifu University, 1-1 Yanagido, Gifu 501-1193, Japan

Received 30 October 2009; Accepted 11 March 2010

Academic Editor: Noriyasu Homma

Copyright © 2010 Takahiro Endo et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


In the transferring of expert skills, it takes a great deal of time and effort for beginners to obtain new skills, and it is difficult to teach the skills by using only words. For those reasons, a skill transfer system that uses virtual reality (VR) and a haptic interface technique is very attractive. In this study, we investigated the human perception of fingertip force with respect to the following changes: (1) the spatial change of the presented force, and (2) the change of the time to present the force. Based on the results of the perception experiments, we considered the skill transfer to a person's five fingers by using a five-fingered haptic interface robot.