Multilateral Control for Skill Education based on Haptic Data Storage

Skill education has been a serious problem in medical and production fields. Since haptic information is so important for human advanced skill as well as visual and audio information, multilateral control that is able to feedback force sensation to several operators is suitable for skill education systems. However, it is necessary for application of multilateral control to haptic skill education that the influences from the operators are variable according to the trainee´s skill acquisition level. Thus, this paper proposes multilateral control with the transmission ratio that is variable according to the trainee´s skill acquisition level. Additionally, multilateral control based on haptic data storage is proposed as well. The experiments are conducted to verify the validity of the proposed methods.