Teleoperation of a Robotic Arm through Tactile Sensing, Visual and Haptic Feedback

摘要

This research paper presents a proof of concept for real-time teleoperation of a robotic arm via internet consisting features such as tactile sense, haptic and visual feedback. According to our system model, a realistic operational experience could be provided to the robotic arm operator when operating the robotic arm to perform tasks in a remote location. Two different algorithms were developed for master and slave ends. Force resistive sensors were used for tactile sensing. Vibrating wearable was designed for haptic feedback. IP camera was used to provide real time visual feedback. The integrated real time robotic control system operates with tactile sensing range of 0.05 N to 0.1 N, overall system response delay of 7.4 ms and accuracy of 99%.