PROJECT TOPICHealthcare, Assistive & Bio-Mechatronics
Teleoperated Haptic Arm
A telepresence manipulation concept exploring bilateral force-reflection control loops, joint torque sensing, and low-latency serial communication linking an ergonomic input master with a remote articulated arm.
Bilateral Teleoperation & Kinesthetic Feedback
- ✓Provides true kinesthetic sense of touch through motorized feedback on the master joystick.
- ✓Uses current-based torque estimation to measure contact resistance at the slave end-effector.
- ✓Maintains loop stability across high-rate bilateral feedback channels.
The Engineering Challenge
Problem / Objective
Standard teleoperated robotic arms lack kinesthetic feedback, causing operators to crush fragile target objects or strip threads.
Conceptual Signal Flow
System Concept
Master Arm Encoders → Target Joint Pose → Slave Arm Current/Load Sense → Master Haptic Motor Resistance.
Architecture Modules
1Ergonomic Master Controller Arm
2Slave Articulated Manipulation Arm
3Joint Force/Torque Sensor Interfaces
4High-Rate Bilateral Control Loop
Hardware Categories
Brushless Motors with EncodersCurrent Sense AmplifiersLoad CellsCAN Transceivers
Technologies & Software
HapticsBilateral ControlForce ReflectionRobotic TeleoperationImpedance Control AlgorithmBilateral Communication Protocol
Engineering Considerations & Edge Cases
- Communication packet jitter causing instability oscillations in haptic motors
- Master-slave scaling ratios
Applications
Tele-surgery research testbeds
Nuclear & hazardous glovebox handling
Subsea robotic manipulation
Engineering Inquiry & Collaboration
Interested in Developing this Architecture?
Connect directly with Tamizh Tech engineers in Coimbatore to discuss mechanical fabrication, sensor selection, firmware implementation, or turnkey system commissioning.