TacGELLO: Tactile Contact Feedback for a 3D-Printed Teleoperation Leader

Abstract:Passive leader arms transmit an operator's motion without returning remote contact or load cues. TacGELLO uses the existing servos of a 3D-printed leader for tactile contact feedback at the gripper trigger and current-based load cues at the arm joints. AnySkin contact detection activates a trigger position hold, while changes in follower joint current adjust leader-servo output limits to command resistance during lifting. Across six UR3 sessions with one operator, sent-command tracking error was 0.15--0.36$^\circ$ RMSE, with estimated trajectory lag of 82--98\,ms. Tactile onset was logged in 60 of 62 segmented TacGELLO grasp intervals. Median commanded closure after tactile or width-based contact references was 0.7--2.1\,mm with TacGELLO and 13.0--13.9\,mm with the original interface.

Robotics (cs.RO)

arXiv:2610.05583 [cs.RO]

(or arXiv:2610.05583v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2610.05583 Focus to learn more arXiv-issued DOI via DataCite (pending registration)

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