Haptic feedback is essential for humans to successfully perform complex and delicate manipulation tasks. A recent rise in tactile sensors has enabled robots to leverage the sense of touch and expand their capability drastically. However, many tasks still need human intervention/guidance. For this reason, we present a teleoperation framework designed to provide haptic feedback to human operators based on the data from camera-based tactile sensors mounted on the robot gripper. Partial autonomy is introduced to prevent slippage of grasped objects during task execution. Notably, we rely exclusively on low-cost off-the-shelf hardware to realize an affordable solution. We demonstrate the versatility of the framework on nine different objects ranging from rigid to soft and fragile ones, using three different operators on real hardware.

翻译：力反馈对于人类成功执行复杂精细的操作任务至关重要。近年来触觉传感器的兴起使机器人能够利用触觉感知能力，显著扩展其操作性能。然而，许多任务仍需要人类干预或引导。为此，我们提出了一种基于机器人夹爪上安装的视觉触觉传感器数据，为人类操作员提供力反馈的遥操作框架。该系统引入部分自主性以防止操作过程中抓取物体发生滑移。值得注意的是，我们完全采用低成本商用硬件实现可负担的解决方案。我们通过三位不同操作员在真实硬件上对九种不同物体（涵盖刚性、软体及易碎物体）进行实验验证，展示了该框架的通用性。