Compact and Wide-Force-Range Magnetorheological Hand Exoskeleton for Kinesthetic Feedback in Teleoperation

Engineering notes

Engineering notes will be added by the Robot Papers editorial team.

Chinese explanation / 中文解读

中文解读待补充：本站会优先为 VLA、具身智能、人形机器人控制、机器人操作等高价值论文补充中文说明。

Original abstract

Hand kinesthetic feedback is crucial for restoring and enhancing human perception of force and displacement in robotic hand teleoperation. Wide perception range of force feedback is vital in rendering objects of different stiffness, especially for high-stiffness rendering. However, existing approaches struggle to achieve wide range of force feedback while maintaining compact and wearable design. This paper presents a hand exoskeleton system employing magnetorheological (MR) brakes to provide a wide range kinesthetic feedback during teleoperation. The MR brake provides a braking torque ranging from 0.01 to 0.918 Nm, while maintaining a compact structure with a total mass of only 39.8 g. The proposed exoskeleton can render fingertip forces up to 21 N while maintaining back-driving force of 1.01 N. Experimental results show that the system allows users to discriminate object stiffness using kinesthetic feedback alone. In a tele-grasping task, when both conditions achieved a 100% success rate, kinesthetic feedback led to a 28.2% reduction in object contact force compared to visual feedback only, enhancing object safety and operator immersion. Questionnaire results further indicate that kinesthetic feedback improves reliability, realism, and user confidence during teleoperation.

Links and sources

• Official / arXiv page
• PDF from original source

Comments