TacGELLO: Tactile Contact Feedback for a 3D-Printed Teleoperation Leader
cs.RO
Submitted: 2026-10-04
Updated: 2026-10-04
License: http://creativecommons.org/licenses/by/4.0/
The gist: Passive leader arms transmit an operator's motion without returning remote contact or load cues.
Abstract
Passive leader arms transmit an operator's motion without returning remote contact or load cues. TacGELLO uses the existing servos of a 3D-printed leader for tactile contact feedback at the gripper trigger and current-based load cues at the arm joints. AnySkin contact detection activates a trigger position hold, while changes in follower joint current adjust leader-servo output limits to command resistance during lifting. Across six UR3 sessions with one operator, sent-command tracking error was 0.15--0.36 RMSE, with estimated trajectory lag of 82--98,ms. Tactile onset was logged in 60 of 62 segmented TacGELLO grasp intervals. Median commanded closure after tactile or width-based contact references was 0.7--2.1,mm with TacGELLO and 13.0--13.9,mm with the original interface.
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