Haptic display device with fingertip presser for motion/force teaching to human

The purpose of this study is to establish a method of virtual-reality-mediated motion/force teaching from human teacher to human "teachee". For effective teaching, position and force information of the teacher\´s action have to be communicated to the teachee. Position information is easy to display, but force information is difficult to display by conventional haptic devices. In this paper, we propose a new type of haptic interface with fingertip presser which could make it possible to display both position and force information. The teacher\´s finger force of pushing a surface is displayed as a mechanical pressing force onto the teachee\´s fingertip, and position is displayed by active multijoint linkage. The results of basic experiments show that the proposed method is effective as a media of motion/force teaching, but reveal some limitations.