  Surgical procedures require a high level of technical skill to ensure
efficiency and patient safety. Due to the direct effect of surgeon skill on
patient outcomes, the development of cost-effective and realistic training
methods is imperative to accelerate skill acquisition. Teleoperated robotic
devices allow for intuitive ergonomic control, but the learning curve for these
systems remains steep. Recent studies in motor learning have shown that visual
or physical exaggeration of errors helps trainees to learn to perform tasks
faster and more accurately. In this study, we extended the work from two
previous studies to investigate the performance of subjects in different force
field training conditions, including convergent (assistive), divergent
(resistive), and no force field (null).
