title: Perception and Haptic Rendering of Friction Moments.
abstract: 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.
authors.forename: H
authors.initials: H
authors.lastname: Kawasaki
authors.forename: Y
authors.initials: Y
authors.lastname: Ohtuka
authors.forename: S
authors.initials: S
authors.lastname: Koide
authors.forename: T
authors.initials: T
authors.lastname: Mouri