A Wristband Haptic Feedback System for Robotic Arm Teleoperation

In environments with limited visual feedback, effective teleoperation can be challenging. This paper proposes a teleoperation framework that combines wristband-based haptic feedback with a posture estimation system to help operators complete tasks more efficiently. The system provides force information from the robot's end-effector via the haptic wristband, supplementing the perception that visual feedback alone cannot provide. Two types of haptic feedback were tested, and the single-motor vibration method was selected. Experimental tasks involving cutting and forking fruit demonstrated improved perception accuracy and faster reaction times, reducing collision forces. The wristband-based haptic feedback device shows great potential for improving teleoperation in complex scenarios with limited visual feedback and has been open-sourced: https://github.com/ClangWU/forceband.git.