Haptic devices have a high potential for delivering tailored training to novices. These devices can simulate forces associated with real-world tasks, or provide guidance forces that convey task completion and learning strategies. It has been shown, however, that providing both task forces and guidance forces simultaneously through the same haptic interface can lead to novices depending on guidance, being unable to demonstrate skill transfer, or learning the wrong task altogether. This paper presents a novel solution whereby task forces are relayed via a kinesthetic haptic interface, while guidance forces are spatially separated through a cutaneous skin stretch modality. We explore different methods of delivering cutaneous based guidance to subjects in a dynamic trajectory following task. We next compare cutaneous guidance to kinesthetic guidance, as is traditional to spatially separated assistance. We further investigate the role of placing cutaneous guidance ipsilateral versus contralateral to the task force device. The efficacies of each guidance condition are compared by examining subject error and movement smoothness. Results show that cutaneous guidance can be as effective as kinesthetic guidance, making it a practical and cost-effective alternative for spatially separated assistance.

中文翻译：

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通过可穿戴设备在空间上将触觉引导与任务动力学分离

触觉设备具有为新手提供量身定制的培训的巨大潜力。这些设备可以模拟与现实世界任务相关的力量，或提供传达任务完成和学习策略的指导力量。然而，已经表明，通过相同的触觉界面同时提供特遣队和指导部队可能导致新手依赖指导、无法展示技能转移或完全学习错误的任务。本文提出了一种新的解决方案，其中通过动觉触觉界面中继任务部队，而引导力通过皮肤皮肤拉伸方式在空间上分开。我们探索了不同的方法，以遵循任务的动态轨迹向受试者提供基于皮肤的指导。我们接下来将皮肤引导与动觉引导进行比较，与传统的空间分离援助一样。我们进一步研究了将皮肤引导同侧与对侧放置到工作组设备的作用。通过检查主体误差和运动平滑度来比较每个引导条件的功效。结果表明，皮肤引导与动觉引导一样有效，使其成为空间分离辅助的实用且具有成本效益的替代方案。