Research on handling skill transfer using hand haptic interface

人类使用指尖、指垫和手掌上的力量和触觉来操纵物体。为了在虚拟环境中进行医疗训练，需要一种不仅可以对指尖施加力，还可以对指垫和手掌施加力的手部触觉界面。人的手指对指尖上的力有很高的敏感度，但对指垫和手掌的敏感度较低。这表明，在虚拟环境中，能够向指垫显示1D力和向指尖显示3D力的手部触觉界面将是有效的。本报告提出以下内容：1)开发的手触感界面的概念与设计，2)使用手触感界面时人体力识别的特点，3)实时乳房触诊训练中生物物体的力渲染，4)使用手触感界面从熟练者到初学者的技能转移方法。

Humans manipulate objects using force and tactile feelings on their fingertips, finger pads, and palm. For practice medical training in a virtual environment, a hand haptic interface that can apply forces to not only the fingertips but also the finger pads and palm is desired. The human finger has high sensitivity with regard to force on the fingertip, but low sensitivity on the finger pad and palm. This suggests that a hand haptic interface that displays 1D force to fingerpads and 3D force to fingertips would be effective for use in a virtual environment.This report presents followings; 1) Concept and design of developed hand haptic interface, 2) Characteristics of human force recognition at using the hand haptic interface, 3) Force rendering of biological object for real-time breast palpation training, 4) Skill transfer method from skilled person to beginner by using hand haptic interface.