• teleoperation
• robotic
• haptic feedback

Teleoperation 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, 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 job was to make a feedback device that would give me back not only the force of interaction with the environment but also a proprioception. The first goal was to optimize the spaces so that the device was wearable. The second step was to carry out the physical characterization, followed by experiments with participants who performed several tasks to validate the system. Finally, further experiments were performed involving the robot to test it in teleoperation.