HumanRobot Interaction Through Fingertip Haptic Devices for Cooperative Manipulation Tasks Teleoperation of multirobot systems, e.g. dual manipulators, in cooperative manipulation tasks requires haptic feedback of multicontact interaction forces. Classical haptic devices restrict the workspace of the human operator and provide only one contact point. An alternative solution is to enable the operator to command the robot system via freehand motions which extends the workspace of the human. In such a setting, a multicontact haptic feedback may be provided to the human through multiple wearable haptic devices, e.g. fingertip devices that display forces on the human fingertips. In this paper we evaluate the benefit of using wearable haptic fingertip devices to interact with a bimanual robot setup in a pickandplace manipulation task. We show that haptic feedback through wearable devices improves task performance compared to the base condition of no haptic feedback. Therefore, wearable haptic devices are a promising interface for guidance of multirobot manipulation systems.

An assisted telemanipulation approach: combining autonomous grasp planning with haptic cues This paper presents an assisted telemanipulation approach with integrated grasp planning. It also studies how the human teleoperation performance benefits from the incorporated visual and haptic cues while manipulating objects in cluttered environments. The developed system combines the widely used masterslave teleoperation with our previous modelfree and learningfree grasping algorithm by means of a dynamic grasp reranking strategy and a semiautonomous reachtograsptrajectory guidance. The proposed reranking metric helps in dynamically updating the stable grasps based on the current state of the slave device. The trajectory guidance system assists in maintaining smooth trajectory by controlling the haptic forces. A virtual pose controller has been integrated with the guidance scheme to automatically correct the endeffector orientation while reaching towards the grasp. Various experiments are conducted evaluating the proposed method using a six degrees of freedom (dof) haptic master and a seven dof slave robot. Results obtained with these tests along with the results gathered from the performed humanfactor trials demonstrate the efficiency of our method in terms of objective metrics of task completion, and also subjective metrics of user experience.