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Issue No. 01 - January-March (2011 vol. 4)
ISSN: 1939-1412
pp: 28-38
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
"Perception and Haptic Rendering of Friction Moments", IEEE Transactions on Haptics, vol. 4, no. , pp. 28-38, January-March 2011, doi:10.1109/TOH.2010.42
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