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Evaluation of Tactile Feedback for Teleoperated Glove-Based Interaction Tasks

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Human-Friendly Robotics 2023 (HFR 2023)

Part of the book series: Springer Proceedings in Advanced Robotics ((SPAR,volume 29))

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Abstract

This paper investigates the use of haptic feedback for glove-based teleoperation in interaction tasks. In particular, tactile feedback is provided to the operator’s fingers to render the force applied to the robot end-effector through the WEART TouchDIVER glove, together with visual feedback. The provided feedback is proportional to the interaction force between the robot and the environment during the execution of a teleoperation assembly task, making the operator able to feel the established interaction. Experiments, involving a remote assembly task, have been performed with and without (i.e., only making use of the visual feedback) the haptic feedback to assess its usefulness. The obtained results show the improved performance of the teleoperation task in terms of both success rate and human perception, suggesting the importance of tactile feedback in interaction tasks with glove-based teleoperation.

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Author information

Authors and Affiliations

  1. Istituto Dalle Molle di studi sull’Intelligenza Artificiale (IDSIA), Scuola Universitaria Professionale della Svizzera Italiana (SUPSI), Università della Svizzera Italiana (USI), via la Santa 1, 6928, Lugano, Switzerland

    Ömer Erencan Dural, Asad Ali Shahid & Loris Roveda

  2. Department of Mechanical Engineering, Politecnico di Milano, Milano, Italy

    Ömer Erencan Dural & Francesco Braghin

  3. WEART S.r.l., Via San Martino, 12, 20122, Milan, Italy

    Guido Gioioso

  4. Department of Information Engineering and Mathematics, University of Siena, via Roma 56, 53100, Siena, Italy

    Domenico Prattichizzo

  5. Department of Advanced Robotics, Istituto Italiano di Tecnologia, via Morego 30, 16163, Genova, Italy

    Domenico Prattichizzo

Authors
  1. Ömer Erencan Dural
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  2. Asad Ali Shahid
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  3. Guido Gioioso
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  4. Domenico Prattichizzo
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  5. Francesco Braghin
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  6. Loris Roveda
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Corresponding author

Correspondence to Loris Roveda .

Editor information

Editors and Affiliations

  1. Technical University of Munich, Munich, Germany

    Cristina Piazza

  2. Technical University of Munich, Munich, Germany

    Patricia Capsi-Morales

  3. Technical University of Munich, Munich, Germany

    Luis Figueredo

  4. German Aerospace Center, Wessling, Germany

    Manuel Keppler

  5. Ludwig Maximilian University, Munich, Germany

    Hinrich Schütze

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Dural, Ö.E., Shahid, A.A., Gioioso, G., Prattichizzo, D., Braghin, F., Roveda, L. (2024). Evaluation of Tactile Feedback for Teleoperated Glove-Based Interaction Tasks. In: Piazza, C., Capsi-Morales, P., Figueredo, L., Keppler, M., Schütze, H. (eds) Human-Friendly Robotics 2023. HFR 2023. Springer Proceedings in Advanced Robotics, vol 29. Springer, Cham. https://doi.org/10.1007/978-3-031-55000-3_6

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