Enhanced tactile feedback (tele-taction) using a multi-functional sensory system

The safe and economic exploitation of remote manipulation techniques is dependent on accurate, responsive handling abilities. This usually means the use of tele-operation, however, the construction and control of effective general purpose end-effectors remains complex, and tactile data collection by, and feedbock from these devices is at best primitive. This work studies the development of an advanced instrumented finger with multi-modal tactile sensations ranging from contact pressurelforce, to hardness, texture, temperature, slip, surface profilelshape. and thermal coductivity. This is integrated with a portable gloved tactile feedback unit providing the operator with directly stimulated feedback of tactile data (tele-taction) on the pressure, vibrational and thermal effects of the handling operation.