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In this paper, we extend this concept to fingertip contacts and design an encountered-type haptic display for multiple fingertip contacts to simulate tasks of grasping an object with any shape and size. Before designing the device, we intensively observed human grasping behaviors. This observation was very helpful to determine the mechanism of the device. An encountered-type device for three-fingered grasping was actually prototyped based on our design.<\/jats:p>","DOI":"10.1177\/0278364905057123","type":"journal-article","created":{"date-parts":[[2005,9,6]],"date-time":"2005-09-06T04:38:03Z","timestamp":1125981483000},"page":"717-729","source":"Crossref","is-referenced-by-count":39,"title":["Designing an Encountered-type Haptic Display for Multiple Fingertip Contacts                 Based on the Observation of Human Grasping Behaviors"],"prefix":"10.1177","volume":"24","author":[{"given":"Yasuyoshi","family":"Yokokohji","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering, Graduate School of Engineering,                         Kyoto University, Kyoto 606-8501, Japan,"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Nobuhiko","family":"Muramori","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Graduate School of Engineering,                         Kyoto University, Kyoto 606-8501, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yuji","family":"Sato","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Graduate School of Engineering,                         Kyoto University, Kyoto 606-8501, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Tsuneo","family":"Yoshikawa","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Graduate School of Engineering,                         Kyoto University, Kyoto 606-8501, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2005,9,1]]},"reference":[{"key":"atypb1","doi-asserted-by":"crossref","unstructured":"Barbagli, F., Salisbury, K. 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