Dental haptic simulator to train hand skill of student - calibration method to realize visual haptic environment.

In prior work, we have developed dental training simulator to train hand skill of student (HHDTS). In the present study, we performed calibration between haptic device coordinate system and half-mirror coordinate system for our system to realize real clinical situation. As a result, the user can overlay the CG (turbine) onto the stylus of haptic device and intract to the CG (tooth) directly.