Research on handling skill transfer using hand haptic interface

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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.