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A study on tank gunnery motor skill training is introduced in this paper. We developed a two-mode system used for teaching and training. In the haptic guidance mode, the trainee is passive and experiences position playback of the expert's motion with a proportional-derivation (PD) controller. In the path constraining mode, the trainee operates the haptic(More)
It is difficult to implement a stable and realistic haptic simulation for cutting rigid objects that is based on a damping model because of an inevitable conflict between stability and high output force. This paper presents pas-sivity techniques to show that an excessive damping coefficient causes the output stiffness to exceed the maximum output stiffness(More)
This paper presents a cutting force model for dental training system with haptic display capability. The force model is proposed by theoretic analysis of the cutting force between dental tools and tooth. A damping matrix is developed for obtaining a unified formulation for all components of cutting forces. All factors that affect the cutting force are(More)
In this paper we study on haptic collaboration in a maze game over computer network. Two players located at separated places operate each haptic device to collaboratively finish the game task. Herein, a new collaboration mode of manipulation - separate DOF control is proposed for the first time. Separate DOF control here means each player controls one DOF(More)
The " hand in hand " approach has been validated as effective in human motor skill training, such as handwriting, drawing, driving and so on. This paper proposes a networked haptic interaction system to simulate the " hand in hand " training scheme for tank gunnery which requires tank gunners to complete tasks accurately and quickly. In the haptic‐based(More)
Feedback force is very important for novices to simulate tooth preparation by using the haptic interaction system (dental training system) in a virtual environment. In the process of haptic simulation, the fidelity of generated forces by a haptic device decides whether the simulation is successful. A force model computes feedback force, and we present an(More)
This paper presents an artificial neural network based 3-DOF haptic rendering scheme to render the contact force between a rigid object and a deformable body in a virtual environment. The finite-element method (FEM) technique is widely used for solving the deformation problem. However, this method has a heavy computational load to get accurate result, so it(More)