Table 1 Contact intervals with mean values of measured forces in X, Y, and Z directions, Human Hand Model
From: A toolkit for haptic force feedback in a telerobotic ultrasound system
Time period (s) | Fx (N) | Fy (N) | Fz (N) |
|---|---|---|---|
0.2–0.45 | 2.434 | 1.542 | 0.8417 |
1–1.3 | 1.799 | 1.407 | 0.1984 |
1.8–2.1 | 2.204 | 1.647 | 0.5779 |
2.65–3.05 | 1.191 | 2.791 | − 1.133 |
3.88–4.25 | − 0.2231 | 0.2434 | 0.2146 |
4.6–4.95 | 0.003 | 0.1909 | 0.7829 |
5.5–5.9 | 0.3367 | 0.2689 | 0.2665 |
6.3–6.65 | 0.4804 | 0.3912 | 0.2679 |
6.9–7.3 | 0.7628 | 0.6750 | 0.4729 |
7.65–8.1 | 0.8455 | 0.8792 | 0.5574 |
8.35–8.7 | 1.154 | 0.9189 | 0.7470 |