Virtual Hand Deformation-Based Pseudo-Haptic Feedback for Enhanced Force Perception and Task Performance in Physically Constrained Teleoperation
Kento Yamamoto,
Yaonan Zhu,
Tadayoshi Aoyama
et al.
Abstract:Force-feedback devices enhance task performance in most robot teleoperations. However, their increased size with additional degrees of freedom can limit the robot’s applicability. To address this, an interface that visually presents force feedback is proposed, eliminating the need for bulky physical devices. Our telepresence system renders robotic hands transparent in the camera image while displaying virtual hands. The forces applied to the robot deform these virtual hands. The deformation creates an illusion… Show more
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