• haptic feedback
• robotic
• teleoperation

Over the past few decades, robotic teleoperation has taken on an increasingly significant role in several areas. Teleoperation allows robots to be controlled remotely to perform tasks in environments that are dangerous or difficult for humans to reach. However, it presents unique challenges related to sensory perception and accurate manipulation. In teleoperation, there are two fundamental aspects to consider. First, it is important to describe the stiffness of the soft systems that are used, as they may have the ability to modify their mechanical stiffness. It is possible, in fact, to create a direct link between the actions of the human body and the responses of the robot. On the other hand, in addition to stiffness mapping, it is equally important to receive adequate tactile feedback that can relate to, for example, the perception of roughness, the feeling of strength, or information about impedance mapping. To address these challenges, we have developed two bracelets presenting an integrated approach to augmented teleoperation, in which wearable haptic feedback devices are combined with teleimpedance techniques. Our goal was to create a feedback device that would provide not only information about the interaction force with the environment but also proprioception. The first objective was to optimize the design for wearability. The second step involved conducting physical characterizations, followed by experiments with participants who performed various tasks to validate the system. Finally, additional experiments were performed involving the robot to test it in teleoperation.