Efficient object exploration and object presentation in TeleTA, Teleoperation system with Tactile feedback
World Haptics Conference (2009)
Salt Lake City, UT, USA
Mar. 18, 2009 to Mar. 20, 2009
Dzmitry Tsetserukou , University of Tokyo, Department of Information Physics and Computing, Japan
Susumu Tachi , University of Tokyo, Department of Information Physics and Computing, Japan
In order to achieve awareness of collision during teleoperation and to support operator with valuable information (object stiffness and shape), we elaborated approaches to object parameter identification and delivering this information to the operator's skin through tactile display. The tactile sensory ability of the remote manipulator allows collision detection and exploration of contacting object. A new type of tactile display that accounts for effectiveness of the information presentation, power consumption, ergonomics, and usability for particular teleoperation task was developed. The experimental results of object shape and stiffness presentation to the human's forearm revealed the most efficient vibration patterns.
D. Tsetserukou and S. Tachi, "Efficient object exploration and object presentation in TeleTA, Teleoperation system with Tactile feedback," World Haptics Conference(WHC), Salt Lake City, UT, USA, 2009, pp. 97-102.