This work compared two methods to augment fine motor skill training using haptic control, including techniques that guide (e.g., virtual fixtures) and challenge the trainee (e.g., error amplification). A prototype system capable of displaying virtual fixtures or error amplification during a writing task was evaluated to determine the extent to which performance in each condition transfers to an unassisted test condition. An experiment comparing training effects was executed in which participants were trained to draw a series of letters from a foreign alphabet with the non-dominant hand. The results showed that task accuracy when training with virtual fixtures did not transfer to an unassisted test condition. Training with error amplification, in contrast, increased accuracy in unaided test trials. These findings suggest that amplifying errors may be used to accelerate fine motor training for unimpaired individuals.
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