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. 2013 Nov 29;4(8):516–531. doi: 10.1068/i0598

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Copyright 2013 C Cellini, L Kaim, K Drewing

This open-access article is distributed under a Creative Commons Licence, which permits noncommercial use, distribution, and reproduction, provided the original author(s) and source are credited and no alterations are made.

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Figure 1. — (a) Visuo-haptic set-up. (b) Adapter between the participant's index finger and the PHANToM's arm. One part of the adapter was fixed to the PHANToM, while the second part was fixed to the finger by double-faced adhesive tape. Both parts were connected with permanent magnets, which allowed the participant to easily disconnect the finger from the set-up. This type of connection allowed the participants to touch and feel the natural rubber stimulus, while finger trajectories were measured by the PHANToM. (c) Rubber stimulus.