Task performance with a dexterous teleoperated hand system

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Abstract
In this paper we examine the role of force bandwidth in performance of close-tolerance peg-in- hole insertion. The experiments use a two fingered teleoperated hand system with finger-level force feedback. Low-pass filters are used to vary the frequency content of the force feedback signal. Task completion times and error rates decrease as force reflection bandwidth increases. Most of the benefit appears between 2 and 8 Hz bandwidth, although some improvement is seen to 32 Hz, the highest frequency examined. These experiments also indicate that even low bandwidth force feedback improves the operator's ability to moderate task forces. However, force feedback does not enable to the operator to minimize grasp force, since this requires information about the friction at the contact between the grasped object and the slave finger tip.

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