Proprioception-Inspired Feedback for Robot Manipulation Using Wearable Haptics

Wearable haptic feedback has become an essential component in human-robot interaction, including teleoperation, prosthetics, and Supernumerary Robotic Limbs (SuperLimbs). However, most existing systems primarily convey contact or force information, and few address proprioception, the sense of body position and movement, which plays a key role in human motor control. In this paper, we propose a proprioception- inspired haptic feedback method using a wearable device that informs users of the movement state of a robot’s end-effector. We implement two feedback strategies: Movement Haptic Feed- back (MHF) and Error Haptic Feedback (EHF). Two user stud- ies were conducted under disturbed visual conditions: one in a teleoperation scenario and another using a SuperLimb scenario. Results showed that both haptic feedback approaches improved task performance and reduced subjective workload compared to no-feedback conditions. These findings demonstrate the value of proprioception-inspired haptic design in expanding body awareness in human–robot sensory augmentation.