A novel master interface using vibrotactile display for Bi-lateral teleoperation

摘要

Tactile display is one of possible method to replace force-feedback in teleoperation task. It enables size of the master device compact, cost-effective, since there is no need to integrate electrical motor, which has relatively large size, inside the master device. On the other hand, retargeting is a kind of mapping function between input of the master device and output of the slave robot. If the slave robot should conduct a teleoperation task like tele-surgery, operation in the space, operation in a dangerous place, the point of the end-effector becomes very important. In this paper, we have developed a novel retargeting system for teleoperation task, using data glove and vision sensor, magnetic sensor, and vibrotactile display. The system can sense motion and position of human wrist, hand motion including the fingers and it can provide a vibrotactile feedback instead of force-feedback. With this system, the user can manipulate teleoperated robotic arm and robotic hand without any difficulties. The proposed system can provide intuitive and precise teleoperation mode.