Current uses of haptic hardware such as the Phantom Premium 6DOF for surgical simulators lack the desired interface transparency and could cause artefacts in the training regime of a student training on a simulator. This problem is addressed and two neural networks are used to find a mapping between handle coordinates and orientation and force output required to counteract gravitational forces. A close fit to the data is achieved for both networks (errors of 0.00149 and 0.0157 between training and predicted forces) and 3DOF gravity compensation is achieved. A 6DOF simulator is created but requires further work to improve it accuracy.
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