Comparison of Three Feedback Modalities for Haptics Sensation in Remote Machine Manipulation

Previous studies have verified the usefulness of visual haptics for achieving appropriate grasping force and task success rate to operate remote machines. However, its capabilities not been evaluated objectively quantitatively. We comprehensively compare three feedback modalities (i.e., sound, vibration, light) providing pseudo-haptic information on contact with an object, which we apply object a remotely operated robot arm. Experimental results verify that light modality haptics) minimizes processing load in operator's brain. then develop prototype machine demonstrate feasibility haptic feedback. consider implementations light-emitting diode, model-based superimposition, model-less superimposition) performance. The show can stabilize performance delicate tasks such as carrying fragile raw eggs potato chips. our method superimposing images points robot's fingertips) significantly improve operability machines without need highly complex expensive interfaces.