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.009a" src="https://static.hindawi.com/articles/jr/volume-2010/542360/figures/542360.fig.009a.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.009b" src="https://static.hindawi.com/articles/jr/volume-2010/542360/figures/542360.fig.009b.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>Measurement results of the angular error at each presented force direction.</table>

Journal of Robotics

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Figure 9

Figure 9: Human Perception Test of Discontinuous Force and a Trial of Skill Transfer Using a Five-Fingered Haptic Interface 