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Teleoperation with Tactile Feedback based on a Capacitive Proximity Sensor Array

Alagi, Hosam ORCID iD icon 1; Navarro, Stefan Escaida; Hergenhan, Jan; Music, Selma; Hein, Bjorn 1
1 Institut für Anthropomatik und Robotik (IAR), Karlsruher Institut für Technologie (KIT)


In this paper, we show our novel teleoperation system that mediates proximity perception at the slave system as tactile information to the user. We have equipped a robot’s end-effector with a capacitive proximity sensor array. Based on the proximity information, tactile feedback is generated for the user via a tactile display. Thus, the user can feel some of an object’s features through his fingers, without the need for establishing contact between the slave system and the object. In our setting, the proximity sensing-based feedback complements the visual feedback provided by a workspace camera and a robot tool camera. Both the sensor array and the tactile display, have a spatial resolution of 4×4. To evaluate the impact, we conducted a user study covering scenarios with visual occlusion and distortion in pre-touch and pre-manipulation phases. The study revealed an improvement in the accuracy of positioning of the end-effector when the visual and the tactile feedback were both provided to the user. The study also showed high acceptance of the new modality by the users.

DOI: 10.1109/I2MTC43012.2020.9128701
Zitationen: 3
Zitationen: 3
Zugehörige Institution(en) am KIT Institut für Anthropomatik und Robotik (IAR)
Fakultät für Informatik – Institut für Prozessrechentechnik, Automation und Robotik (IPR)
Publikationstyp Proceedingsbeitrag
Publikationsmonat/-jahr 05.2020
Sprache Englisch
Identifikator ISBN: 978-1-72814-460-3
KITopen-ID: 1000122134
Erschienen in 2020 IEEE International Instrumentation and Measurement Technology Conference (I2MTC)
Veranstaltung IEEE International Instrumentation and Measurement Technology Conference (I2MTC 2021), Glasgow, Vereinigtes Königreich, 17.05.2021 – 20.05.2021
Verlag Institute of Electrical and Electronics Engineers (IEEE)
Seiten 1–6
Bemerkung zur Veröffentlichung Veranstaltung sollte ursprünglich vom 25. - 28.05.2020 in Dubrovnik, Kroatien stattfinden.
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