遠隔操作型内視鏡下手術を模擬したハプティックデバイスにおける操作性の改善と力覚提示が操作者に及ぼす効果の調査

抄録

We have developed the MR fluid clutches for Fine Haptics (H-MRC) and utilized them in the Haptic MR Device for Endoscopic Surgery (H-MRD for ES). To improve its operability, we redesigned the H-MRC to reduce its size and wight. As a result, we successfully reduced by 150 g of the total weight of the operation part of the H-MRD. In addition, the self-wight compensation was conducted for its operational part. Their effects were assessed by eight healthy males and females with a pick-and-place task. The result shows significant differences in some scores of NASA-TLX and successful improvement on the skills of operators.