Teleoperation system with haptic feedback for physical interaction with remote environment

The paper focuses on the teleoperation system TeleTA with haptic feedback designed to realize haptic communication with remote human, to achieve high level of maneuverability of robot arm in unstructured environment, and to increase effectiveness of physical human-robot interaction. The human operator directs the robot arm to the target position, while manipulator sensory system provides safe physical interaction with environment. In order to achieve awareness of collision, to support operator with valuable information (stiffness and shape of contacting object), and to realize robot-mediated haptic communication, we developed the innovative tactile and haptic displays, namely, BraTact (for presenting the cutaneous information) and FlexTorque (for presenting the kinaethetic feedback).