ABSTRACT
As a type of haptic (or through the sense of touch) computer input/output device, the force-reflecting hand controller has proved to be useful in teleoperation. Unlike conventional joysticks, forces on a controlled device (a teleoperator) are sensed and ‘reflected’ back to an operator. For example, when an active force-feedback device is used to move a teleoperated robot against a wall, the haptic input device becomes a haptic output device in the sense that it projects a ‘feel like’ something immovable has been encountered (by reflecting the force seen by the robot as it pushes against the wall). Back-driven motors are used to make the control resist further forward motion.
