A haptic feedback architecture for bionic teleoperation blade cleaning tasks

Hazardous environment operations cannot eliminate the need for human intervention. Teleoperated robots can prevent operators from being exposed to danger. However, a lack of highly immersive tactile feedback hinders safe and efficient teleoperation. To address this issue, a nonlinear tactile feedback method based on a bionic shared-control architecture is proposed in this paper, which can achieve real-time tactile perception and force correction for remote bionic hand. A "Modular Pneumatic Tactile Soft Actuation system (MTSA)" was designed to replicate the bionic tactile sensation. The tactile feedback method is constructed based on the Hunt-Crossley (HC) nonlinear contact model, to ensure it aligns with the dynamic characteristics of human skin contact. Six groups of experiments were conducted under the proposed architecture. The results demonstrated that the bionic teleoperation system, with the integrated tactile feedback, produced effects that better matched human perceptual characteristics. This match effectively reduced the operator's cognitive load while enhancing both the tactile realism and the operational precision of the teleoperated robot.