Abstract: A method for precise high-speed motor skill training based on a haptic interaction system is introduced.The record-play mode and intelligent guiding mode are proposed.In the record-play mode，the trainee is passive and experiences position playback of the expert’s path with a Proportional-Derivative（PD） controller.In the intelligent guiding mode，the trainee traces the expert’s path actively.The haptic device can output guidance force if the trainee cannot match the patch of the expert.Finally，the haptic interaction system for envelope drawing skill training is constructed with the haptic device Omega 3DOF.The parameters of the force model on system stability are analyzed.Experimental results demonstrate that the algorithm developed is feasible for precise high-speed motor skill training.

Key words: motor skill training, precise high-speed motor, record-play, haptic guidance, haptic device

摘要： 介绍了用力觉交互技术进行手眼协调高速率精准操作的动作技能训练方法。提出了记录播放和轨迹智能导引两种培训模式。在记录培训模式中，采用PD控制的方法使学员被动感受专家的运动信息。在智能导引纠正模式中，学员主动操作交互设备，计算机根据学员的操作情况控制交互设备输出导引力或纠正力。最后，采用Omega 3DOF建立了具备触觉显示和图形显示功能的“信封靶”描绘技能训练系统样机平台，分析了力模型参数对系统稳定性的影响。实验结果证明了培训方法的可行性。

关键词: 动作技能训练, 高速率精准操作, 记录播放, 力觉导引, 力觉交互设备