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Issue No. 01 - January-March (2011 vol. 4)
ISSN: 1939-1412
pp: 28-38
Haruhisa Kawasaki , Gifu University, Gifu
Yoshio Ohtuka , Gifu University, Gifu
Shinya Koide , Gifu University, Gifu
Tetsuya Mouri , Gifu University, Gifu
This paper considers moments due to friction forces on the human fingertip. A computational technique called the friction moment arc method is presented. The method computes the static and/or dynamic friction moment independent of a friction force calculation. In addition, a new finger holder to display friction moment is presented. This device incorporates a small brushless motor and disk, and connects the human's finger to an interface finger of the five-fingered haptic interface robot HIRO II. Subjects' perception of friction moment while wearing the finger holder, as well as perceptions during object manipulation in a virtual reality environment, were evaluated experimentally.
Friction, Haptic interfaces, Force, Fingers, Rendering (computer graphics), Humans, Dynamics

H. Kawasaki, Y. Ohtuka, S. Koide and T. Mouri, "Perception and Haptic Rendering of Friction Moments," in IEEE Transactions on Haptics, vol. 4, no. 1, pp. 28-38, 2011.
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