Full upper-body operator exoskeletons reflecting 6-DoF arm forces and high-frequency tactile slip sensations during delicate mechanical tool operations.
Operators wear powered upper-body exoskeletons whose joint kinematics mirror the remote robot's dual 7-DoF arms. Direct-drive motors apply up to 40 N of resistive force, enabling operators to feel the weight of tools and mechanical contact boundaries.
Tactile sensor arrays on robotic fingertips detect micro-vibrations (50 to 400 Hz) caused by objects slipping from grippers. Voice-coil actuators in the operator glove reproduce these vibrations, triggering natural human grip-tightening reflexes.