PROJECT TITLE :

A High Performance Tactile Feedback Display and Its Integration in Teleoperation

ABSTRACT :

This paper presents the development of a compact tactile show and its integration in teleoperation. The system's operation relies on the display of surface form to an space of the fingertip through a 4 × four array of tactors moving perpendicularly to the skin surface. The tactors are spring loaded and are actuated remotely by dc motors through a versatile tendon transmission. This novel implementation of conventional actuation principles achieves a compact design with superior performance compared to devices of the same footprint, demonstrating an excellent combination of tactor spatiotemporal resolution, force, and amplitude. The display's ergonomic style and high performance build it appropriate for integration on haptic devices for tactile feedback in VR and in Teleoperation. This paper presents the design, management, and performance of the tactile show and of the transmission system. It conjointly demonstrates its integration on an Omega7 force feedback device for the teleoperation of an LWR KUKA manipulator. An experiment is presented where users teleoperated the stylus of the robot in an exceedingly 3D contour following task with and while not tactile feedback. In this experiment, force feedback from the slave is fused with model-based mostly local tactile feedback. Subjects' performances indicate an improvement in teleoperation when both tactile and force feedback are gift.