In this study, we presented an efficient and unobtrusive tactile feedback system, which is used to train dental technicians in carving tasks using a wax stick and knife. First, we developed a method for generating performance metrics using a model-based estimation of clearance angles between an object's surface and the carving blade. The calculated clearance angles are compared with desired angles obtained from expert operators. Then, angular errors are presented as tactile cues to the user's finger pads through electrical stimuli at the middle phalanx of the index finger and the thumb. Subsequently, we conducted a feasibility test with novice dental technicians, who showed improvement in initial clearance angles of carving strokes. Moreover, the results showed significant reduction in the occurrence rate of poor-carving when using the proposed system. From these results, we concluded that electrotactile augmentation can provide effective guidance for carving tasks.
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