Integration of Electrotactile and Force Displays for Telexistence

摘要

In this chapter, we described a robotic system that enables us to interact with a remote human or object. We proposed the integration of electrotactile and force feedback for dexterous tele-manipulation. The electrotactile feedback can provide spatially distributed tactile sensation; therefore, we consider that the integration of electrotactile and force feedback is effective in perceiving the shape of an object and in manipulating it. We have confirmed the effectiveness of the electrotactile feedback and constructed a multi-fingered telexistence system named Haptic Telexistence. In the future, we plan to provide more object properties such as texture and temperature. Not only will we be able to shake hands with people at remote locations but we will be able to feel the warmth of their hands. In the case of internet shopping, we will be able to check the texture of an article before purchase. We expect that the Haptic Telexistence system will dramatically improve the human interaction with a remote object.