Characterization of a Compliant Mechanism Gripper With Visual Force Feedback Capabilities

Abstract Teleoperating systems enable humans to perform material handling tasks that otherwise are inaccessible or hazardous to humans. Applications range from micro- to heavy-assembly, minimally invasive surgery, to sea and space exploration. Teleoperating machines often involve remote control of machinery or devices in environments where the operator is not physically present, which creates a physical barrier that separates the human operator’s sensory system from the working area. Force feedback systems can provide crucial information about the environment, which helps the operator make informed decisions and adjust their actions accordingly. This work examines the force-deflection properties of a compliant-based visual force feedback gripper. Experiments determine a linear relationship between force transmission and the deformation of flexible elements, which serve as a visual cue to interpret force feedback information. Since humans tend to have a preference or bias toward perceiving and understanding the behavior of datasets as linear rather than nonlinear, the existing mechanism design may sufficiently act as a testing platform for future assessment. Further research is needed to determine whether this compliant-based solution offers advantages over conventional force feedback interfaces by offering continuous force feedback cues without complex mechatronics. Expanding the scope of our study to encompass real-world scenarios and diverse object shapes, sizes, and stiffness will enhance the practical utility of our findings.