力覚提示による描画動作の熟達支援の検討

―2DOF力覚提示における相補教示支援―

抄録

The sense of knack and intuition is important to master a skill for mastering new skill. However, skill mastery is difficult to convey to humans in words and letters. Generally, the acquisition of skills is achieved an imitation and repetition of the teachers’ behavior, it requires effort and time. In order to solve this problem, previous research aimed at proficiency support by the force sense presentation. In most of these researches, the student received the teacher’s sense of force directly. Therefore, we propose a complementary learning system in order to improve the teaching ability of the teacher. The purpose of this study is to assist in the leaning of drawing and writing behaviors. This paper proposes a 2-DoF haptic rendering drawing system using bilateral control.