Low-Cost Robot Operation Interface for Simultaneous Hand Position Input and Force Fine-Tuning Using Visual-Based Tactile Sensor

We propose a low-cost robot operation interface that combines a mixed-reality device and vision-based tactile sensor for simultaneous grip force fine-tuning and position control. In a paper creasing demonstration, we confirm that the proposed system dynamically reproduces a small force input by the operator to the controller as the grasping force of a robot gripper.