Teletouch Display Development. Phase 1

Teleoperated manipulators currently in use rely mainly upon visual feedback to accomplish simple manipulation tasks. In some cases, to enhance manipulative capabilities, force reflection and positional correspondence are provided between slave manipulator and master controller arms, along with simple end-effector proximity and slip sensors. However, as noted by Bejczy, space- station assembly, satellite servicing in orbit, extraplanetary exploration, and undersea operations which require only seemingly ordinary manipulative capabilities can overwhelm present teleoperated capabilities. To extend telemanipulative capabilities and applications, proposals have been made to improve the quality of current visual, proprioceptive, and kinesthetic feedback. Yet, without feeding back end-effector surface contact phenomena to the teleoperator, remote systems are difficult ot field that possess a high degree of dextrous manipulative and haptic abilities. This report reviews human-tactual capabilities and previous efforts in tactile-display development, and recommends approaches for developing teletouch-display systems for telerobotic systems.