TacGELLO: Tactile Contact Feedback for a 3D-Printed Teleoperation Leader

arXiv:2610.05583v1 Announce Type: new 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^irc 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.

Source: arXiv cs.RO | 2026-10-06