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.0010a" src="https://static.hindawi.com/articles/jr/volume-2010/542360/figures/542360.fig.0010a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b>Average value of the angular error in the horizontal direction (M1)</td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="542360.fig.0010b" src="https://static.hindawi.com/articles/jr/volume-2010/542360/figures/542360.fig.0010b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b>Average value of the angular error in the vertical direction (M2)</td></tr></table></td></tr></table>

<table>Performance of HIRO III (angular error of the presented force).</table>

Journal of Robotics

fig10

Figure 10

Figure 10: Human Perception Test of Discontinuous Force and a Trial of Skill Transfer Using a Five-Fingered Haptic Interface 