1A1-I09 Force feedback method of relaying proprioception in telexistence systems

Abstract

In this paper, we propose a new haptic presentation method for telexistence system that matches somatic sensation of the master with the position and posture of the slave robot arm. To realize this method, we employ a way that displays the torque on each arm joint of the slave robot to the operator's arm joints in order to match the proprioception of the slave arm with that of the user arm. According to our experimental result, our method does not require any agreement between the position and posture of slave robot's arm and those of the operator's arm, contrary to the conventional methods.