This study introduces a VR-based teleoperation system that integrates hand tracking and haptic feedback to address the limitations of traditional robot programming methods, particularly in hazardous environments.

The system integrates a standalone VR headset with a vibrotactile feedback glove and a collaborative robot arm. It leverages a game development engine to integrate these diverse devices and create an immersive virtual environment.

Key features

• Real-time hand tracking
• Workspace calibration
• Adaptive controls for seamless coordination between virtual and real robot workspaces

The research focuses on enhancing user interaction through control algorithms including impedance control and Adaptive Damped Least Squares (A-DLS), to improve operational stability and precision near singular points.