抄録
We have been developing a virtual human body using haptic devices for endoscopic surgery training simulator. This system is composed of two 3-DOF haptic devices and a control board with USB 2.0 interface. This system is connected to a host computer through Ethernet. Two operational tools are connected to haptic devices each through holes on the virtual body, and an operator is able to feel the sense of touch with virtual organs. Furthermore we proposed a new method to calculate a reaction force fast, and we constructed two types of examinations to evaluate a validation of the proposed method. Experimental results show that the proposed method was valid to the faster of the haptic simulation.
