A novel wireless vibrotactile display device for representing 3DOF force feedback in teleoperation

摘要

A vibrotactile display is one of possible methods to supersede force-feedback in teleoperation task. It can apply to an existing teleoperation system such as a master interface which is based on a vision sensor to provide reliable contact force. A novel wireless vibrotactile display device which can perform independently and can be used by constituting a vibrotactile array has been developed in this paper. In addition, it is applied to an existing retargeting system which can sense the position of the human wrist and the hand motions including the fingers using the CyberGlove and a magnetic sensor to implement a bi-lateral teleoperation system. Therefore, a new modified force-feedback method using vibrotactile display in telemanipulation is suggested in this research. With this system, an operator can manipulate a teleoperated robotic arm and a robotic hand without any difficulties, and it also can prevent an object or a slave robot from being damaged. Experimental results show distinguishability of vibrational cueing patterns and the improvement of the performance in telemanipulation.