A multitrainee architecture for haptic handson training Haptic simulators are used in many education domains to improve handson training performance. Many of these simulators are used in the medical domain, where it is particularly important to be trained, guided by an expert. However, the majority of haptic handson training devices are usable by only one user at the same time, either the trainer or the trainee. Dualuser approaches have enhanced this situation by allowing both trainer and trainee to use the same simulator to introduce guided training into the simulation. In this paper, we introduce a multitrainee architecture that expands further a former dualuser handson haptic training solution designed according to an energetic approach. This system will permit several trainees to be involved in the same simulation at the same time, guided by a single trainer. It paves the way to the multitrainee handson training on haptic simulators.

HumanRobot Interaction Through Fingertip Haptic Devices for Cooperative Manipulation Tasks Teleoperation of multirobot systems, e.g. dual manipulators, in cooperative manipulation tasks requires haptic feedback of multicontact interaction forces. Classical haptic devices restrict the workspace of the human operator and provide only one contact point. An alternative solution is to enable the operator to command the robot system via freehand motions which extends the workspace of the human. In such a setting, a multicontact haptic feedback may be provided to the human through multiple wearable haptic devices, e.g. fingertip devices that display forces on the human fingertips. In this paper we evaluate the benefit of using wearable haptic fingertip devices to interact with a bimanual robot setup in a pickandplace manipulation task. We show that haptic feedback through wearable devices improves task performance compared to the base condition of no haptic feedback. Therefore, wearable haptic devices are a promising interface for guidance of multirobot manipulation systems.