Providing Rich Haptic Feedback in Teleoperation

Determine effective mechanisms to provide humans with rich haptic feedback during teleoperation of robotic manipulation systems to enable efficient and precise dexterous task demonstrations.

Background

Teleoperation is a common approach for collecting robot manipulation data, but most systems either lack haptic feedback or provide only limited cues (e.g., vibration or fingertip-only normal forces), which makes precise, contact-rich tasks slow and difficult for operators.

The paper proposes perioperation via DEXOP to address these limitations by giving the human operator proprioceptive force feedback through mechanical linkages while recording rich tactile and visual data. However, the broader challenge of delivering rich haptic feedback directly within teleoperation remains unresolved, motivating this explicit open question.