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Journal of Robotics
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Journal of Robotics
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2010
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Article
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Fig 4
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Research Article
Human Perception Test of Discontinuous Force and a Trial of Skill Transfer Using a Five-Fingered Haptic Interface
Figure 4
Measurement environment.
(a)
Connection of HIRO III to the index finger
(b)
Goniometer
(c)
Experimental setup
(d)
Coordinate systems of the finger