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.007a" src="https://static.hindawi.com/articles/jr/volume-2010/542360/figures/542360.fig.007a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b>Step response of HIRO III</td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="542360.fig.007b" src="https://static.hindawi.com/articles/jr/volume-2010/542360/figures/542360.fig.007b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b>HIRO III is connected to the wall</td></tr></table></td></tr></table>

<table>Performance of HIRO III (Step response).</table>

Journal of Robotics

fig7

Figure 7

Figure 7: Human Perception Test of Discontinuous Force and a Trial of Skill Transfer Using a Five-Fingered Haptic Interface 