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. Author manuscript; available in PMC: 2021 Apr 1.
Published in final edited form as: IEEE Robot Autom Lett. 2020 Feb 10;5(2):2578–2585. doi: 10.1109/lra.2020.2972863

Fig. 1.

Fig. 1.

(a) Real and simplified task. (b) Mechanical model. (c) Virtual environment with a subject operating the HapticMaster robot to manipulate the virtual cup. (d) Screen display.