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

Figure 11

Measurement results of the PSE at each direction of the presented force.

(a) Average value of the PSE in the horizontal direction (M1)

(b) Average value of the PSE in the vertical direction (M2)

(c) Ratio answered as high in the horizontal direction (M1)

(d) Ratio answered as high in the vertical direction (M2)