An Immersive Virtual Reality Bimanual Telerobotic System With Haptic Feedback

TL;DR

This paper presents an immersive bimanual telerobotic system with visual and haptic feedback, enhancing user perception, reducing workload, and enabling more complex teleoperated tasks.

Contribution

The study introduces a novel bilateral isomorphic bimanual telerobotic system with integrated haptic feedback, improving immersion and operational capabilities.

Findings

Haptic feedback improves physical perception and task performance.

The system reduces operator workload and compensates for visual limitations.

It enables more intuitive and complex teleoperation tasks.

Abstract

In robotic bimanual teleoperation, multimodal sensory feedback plays a crucial role, providing operators with a more immersive operating experience, reducing cognitive burden, and improving operating efficiency. In this study, we develop an immersive bilateral isomorphic bimanual telerobotic system, which comprises dual arm and dual dexterous hands, with visual and haptic force feedback. To assess the performance of this system, we carried out a series of experiments and investigated the user's teleoperation experience. The results demonstrate that haptic force feedback enhances physical perception capabilities and complex task operating abilities. In addition, it compensates for visual perception deficiencies and reduces the operator's work burden. Consequently, our proposed system achieves more intuitive, realistic and immersive teleoperation, improves operating efficiency, and expands the complexity of tasks that robots can perform through teleoperation.