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

<table>Presentation of two kinds of forces, <math id="M81" xmlns="http://www.w3.org/1998/Math/MathML"><mrow><msub><mrow><mi mathvariant="bold-italic">F</mi></mrow><mrow><mi>r</mi></mrow></msub></mrow></math> and <math id="M82" xmlns="http://www.w3.org/1998/Math/MathML"><mrow><msub><mrow><mi mathvariant="bold-italic">F</mi></mrow><mrow><mi>t</mi></mrow></msub></mrow></math>.</table>

Journal of Robotics

fig14

Figure 14

Figure 14: Human Perception Test of Discontinuous Force and a Trial of Skill Transfer Using a Five-Fingered Haptic Interface 