抄録
This paper presents the design concept and the computational model of the downscaled Haptic Recorder system. Haptic Recorder is a system developed for measurement, recording, visualization, modeling, and reproduction of the manipulation skill in utilizing a tool in reaction to the real environment. The downscaled Haptic Recorder system is designed on aim of limiting the function to the measurement, recording, visualization of the mechanical interaction in the proficient skill. The simplified design of the arm mechanism which is targeted to measure the skill of scalpel operation, and the sensor layout and computation for converting the instrumented data to the visualized 3-D model data is described.
