Bilaterally shared haptic perception for human-robot collaboration in grasping operation

Yoshihiro Tanaka, Shogo Shiraki, Kazuki Katayama, Kouta Minamizawa, Domenico Prattichizzo

Research output: Contribution to journalArticlepeer-review

6 Citations (Scopus)


Tactile sensations are crucial for achieving precise operations. A haptic connection between a human operator and a robot has the potential to promote smooth human-robot collaboration (HRC). In this study, we assemble a bilaterally shared haptic system for grasping operations, such as both hands of humans using a bottle cap-opening task. A robot arm controls the grasping force according to the tactile information from the human that opens the cap with a fingerattached acceleration sensor. Then, the grasping force of the robot arm is fed back to the human using a wearable squeezing display. Three experiments are conducted: measurement of the just noticeable difference in the tactile display, a collaborative task with different bottles under two conditions, with and without tactile feedback, including psychological evaluations using a questionnaire, and a collaborative task under an explicit strategy. The results obtained showed that the tactile feedback provided the confidence that the cooperative robot was adjusting its action and improved the stability of the task with the explicit strategy. The results indicate the effectiveness of the tactile feedback and the requirement for an explicit strategy of operators, providing insight into the design of an HRC with bilaterally shared haptic perception.

Original languageEnglish
Pages (from-to)1104-1116
Number of pages13
JournalJournal of Robotics and Mechatronics
Issue number5
Publication statusPublished - 2021 Oct


  • Bilateral connection
  • Haptics
  • Human-robot collaboration
  • Tactile sharing
  • Wearable device

ASJC Scopus subject areas

  • General Computer Science
  • Electrical and Electronic Engineering


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