Analysis and Transfer of Expert Skill by Using Haptic Virtual Reality Technology

本研究旨在建立一种基于触觉虚拟现实技术的专家技能分析与传递方法。我们考虑一类技能，不仅需要控制手的运动，还需要控制手对物体施加的力。通过开发一个虚拟环境，在其中人类操作员可以执行任务，如组装任务或书法，我们期望我们可以精确和详细地观察人类的技能。从观察到的数据中，我们试图建立一种定量分析专家技能的方法。同时，我们也试图通过开发的虚拟环境为教师向学生传递技能提供理论基础。所得结果的概要如下。专家技能的测量与迁移研究(1)提出了虚拟课堂的概念。在此基础上，开发了虚拟书法系统，并通过实验验证了该概念的有效性。(2)开发了一种用于钉插入任务的触觉虚拟现实仿真系统。通过该系统可以获得人类技能的详细记录。(3)提出了一种确定熟练动作多个样本轨迹时间对应关系的方法。(1)开发了一种具有指尖按压功能的触觉显示装置，用于在人与人之间传递运动技能。这个装置可以显示教师技能的位置和力的轨迹。(2)研制了一种触控力显示装置，使操作者能够直接从触觉感官通道感受触控与非触控的差异。(3)开发出一种稳定性更好的新型触觉显示装置，该装置的关节处使用一组真实的弹簧。

The purpose of this research is to establish a methodology for analyzing expert's skill and transmitting it by using haptic virtual reality technology. We consider a class of skill that require controlling not only the hand motion but also the force applied by the hand on an object. By developing a virtual environment in which a human operator can perform a task such as an assembly task or calligraphy, we expect that we can observe the human skill precisely and in detail. From the observed data we try to establish a methodology for analyzing expert's skill quantitatively. We also try to develop a theoretical basis for transferring skills from teacher to student by using the developed virtual environment. The outline of the obtained result is as follows.1. Research on measurement and transfer of expert's skill(1) The concept of virtual lesson has been proposed. Based on this concept, a virtual calligraphy system has been developed and the validity of the concept has been experimentally shown.(2) A haptic virtual reality simulation system for peg insertion task has been developed. A detailed record of a human skill can be obtained by this system.(3) A method for determining time correspondence among plural sample trajectories of skilled motion has been proposed.2. Development of haptic display devices for skill display(1) A haptic display device with fingertip pressing function has been developed to transfer motor skills from human to human. This device can display both position and force trajectories of the teacher's skill.(2) A touch and force display device has been developed which allows the operator to feel the difference of touch and nontouch directly from tactile sensory channel.(3) A new haptic display device with a better stability property has been developed that uses a set of real springs at the joints of the device.