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

Table 2

Measurement of the human perception of force direction.

No.	Measurement conditions^(*)
1	(M1) and (a)
2	(M1) and (b)
3	(M1) and (c)
4	(M2) and (a)
5	(M2) and (b)
6	(M3) and (c)

(${}^{*}$) (M1) and (M2) are conditions for spatial variation, and (a)–(c) are conditions for time variation.