Effects of introducing tactile feedback in macro-micro teleoperation systems

Identifying and implementing high-fidelity scaling laws in scaled teleopera ted systems remains a challenge. We propose the use of tactile information to complement and supplement the normal visual and force channels and there by provide sensory enhancement when performing tasks involving delicate mot ions. We support our proposal by presenting experimental results from tests performed by humans under simulated and experimented conditions. Our resul ts show that integrating tactile feedback improved the performance of the o perator.