This paper describes a tactile sensing and feedback system which was developed by the Kansas Augmented Telerobotics (KAT) Laboratory for its dual-arm telerobotic cell. The system includes a tactile sensing array incorporated into the slave's parallel-jawed grippers, a computer system and electronics used to scan the array and command the feedback systems, and three different methods of communicating the tactile information to the operator. The three methods of tactile feedback used were kinesthetic, cutaneous, and visual. The kinesthetic feedback mechanism provides the operator with a sense of how tightly an object is being held within the gripper. The cutaneous feedback mechanism, an array of vibrating solenoids, helps the operator perform grip verification and recognize slip. The visual display gives kinesthetic and cutaneous information through the use of a graphic display. One of the three types of feedback, kinesthetic, posed an interesting problem for which two different methods of control were investigated: simple proportional control and fuzzy logic control. Characteristics of each method are discussed.
R. Bryan Greenway,
Terry N. Faddis,
"Tactile information system for a telerobotic cell", Proc. SPIE 1833, Telemanipulator Technology, (26 March 1993); doi: 10.1117/12.142112; https://doi.org/10.1117/12.142112