REALIZATION OF TACTILE TELEPRESENCE FOR TELEROBOT USING ELECTROTACTILITY

In this paper, an experimental study on realization of electrotactility is conducted. The shapes and distribution of electrodes and stimulation current waveforms are proposed to realize the finger electrotactility. Then, the system construction and realization scheme are presented to realize tactile telepresence for telerobot. The system enables the operator to feel the slave manipulator touching with objects which have point, line and plain shapes. The position resolving power is 2.2mm.