This paper investigates the use of arm-grounded force feedback applied to an operatory's fingertips while performing telemanipulation tasks with a dexterous robot han. The forces were applied by a cable-driven feedback device used in conjunction with an instrumented glove. Expriments were conducted to evaluate subjects' ability to discriminate between objects of different size and stiffness, and to regulate grasp forces. The results indicate that object size discrimination was comparable to using a conventional haptic feedback interface grounded to the environmet, though still not as effective as direct human contact. The force regulation indicated that the user could maintain a fairly constant force, but was subject to some system noise. Discrimination of object stiffness was the most difficult task, due to the inherent compliances of the system and yielded a 75
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