Active and efficient motor skill learning method used in a haptic teleoperated system

This paper presents a new haptic training method for motor skill acquisition working in a teleoperated system. The method promotes a visuo-motor learning process base on the active attention and participation of the apprentice during training. Using a robot end-effector, the master describes a desired path which is followed by the apprentice using a haptic device. The master aids the apprentice by restricting his motion within upper and lower boundaries parallel to the path being created in real time. The boundaries are located at a given distance established by the master base on the apprentice learning improvement. Using this method, the master does not disturb or control the position and velocity of the apprentice directly which avoids apprentice dependence on the master. A training handdrawing scheme was designed and implemented to evaluate the visuo-haptic method; experimental results show faster and better apprentice´s motor performance than using only visual information. These results suggest a possible implementation of the method in complex motors tasks such as calligraphy or surgery, to name a few.