$ # H & I ! ! " # $ %% & %% "" "" ! Fig.1: Existing methods ' ( ! %%) $ "" Haptic Device * !" # $# # ! " & # $+ ( , & . # ( ! " Haptic Device 0+ 0 Expert . / ( ! 3 +! 456 " +! * " Fig.2: Proposed method 0 1 3 Virtual Trajectory Trajectory / $ * 5 $ *3 / 1 1 1 ( !" 8 )& Fig.3: System overview ! ! 6 *+ ,,! 1 2 * * 1 2 Fig.4: Separating force ( ! / 0: ! ) # ( # + > # 4 2 . , " (( *3 1 * 2 * # . 4! ) * ! 2 # . 7 . * # 1 Trainee * (- " ! F F " * + J# * ( ! % &' 496: ( ;; &( ! " <= >?? >=9 9=<5 456' @ ( 3 ! ) ( 7 ! #$$$% " #& ' ?<AB5 9==C 4C6D E F G #E H & F E #F /7 F ( &(, H I 0 # ( ) " * $+ ,#() 9>B 9JC 5KKC 4>6L ' # 2 H )' , ( L 7 ! ./ ' 0 # % $ * ' CCJAC>9 5KK5 Fig.5: Correlations of force history
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