Bilateral Haptic Force Feedback for Bimanual Robot Teleoperation in Virtual Reality
A teleoperation architecture in which fingertip tactile-array forces measured on two dexterous robotic hands are converted to fingertip torque and rendered back to the operator through a force-feedback exoskeleton glove, combined with head-mounted stereoscopic visual feedback and isomorphic wrist-and-finger mapping. Adding grounded haptic feedback to VR visual feedback lets the operator perceive object hardness and contact, reducing grasped-object deformation and cognitive burden versus visual feedback alone.
2501.00822
An immersive virtual-reality system for bimanual robot teleoperation that adds bilateral haptic force feedback to stereoscopic visual feedback. Fingertip 4x4 tactile-sensor arrays on two dexterous ro…