Figure 3: Principle of the human machine interface: coordinate transformation (t) from the coordinate systems of the hand (a) and base (b) panel to the coordinate system of a reference point (c) at the human-machine-interface
Figure 3: Principle of the human machine interface: coordinate transformation (t) from the coordinate systems of the hand (a) and base (b) panel to the coordinate system of a reference point (c) at the human-machine-interface