The safe and economic exploitation of remote manipulation techniques is dependent upon accurate, responsive handling abilities. This usually means the use of teleoperation. However, the construction and control of effective general purpose end-effectors remains complex, and tactile data collection by, and feedback from, these devices is at best primitive. This work studies the development of an advanced instrumented finger with multimodal tactile sensations ranging from contact pressure/force, to hardness, texture, temperature, slip, surface profile/shape, and thermal conductivity. This is integrated with a portable gloved tactile feedback unit providing the operator with directly stimulated feedback of tactile data (tele-taction) on the pressure, vibrational and thermal effects of the handling operation. >
['Darwin G. Caldwell', 'Clarence Gosney']
Enhanced tactile feedback (tele-taction) using a multi-functional sensory system