Research on handling skill transfer using hand haptic interface

人类利用指尖、指腹和手掌上的力和触觉来操纵物体。为了在虚拟环境中进行实践医疗训练，需要一种不仅可以向指尖而且可以向指垫和手掌施加力的手触觉接口。人的手指对于指尖上的力具有高灵敏度，但是对于指垫和手掌具有低灵敏度。这表明，一个手触觉接口，显示一维力的指垫和三维力的指尖将是有效的使用在虚拟环境中。1）开发的手触觉接口的概念和设计，2）在使用手触觉接口时的人力识别的特性，3）用于实时乳房触诊训练的生物对象的力再现，4）通过使用手触觉接口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.