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This paper presents a system for relaying distributed tactile information from the finger tips of a remote manipulator to the finger tips of a human teleoperator. Tactile array sensors measure the pressure distribution at the contact between the robot hand and the grasped object. A computer samples this pressure signal and applies signal processing algorithms. The resulting signal drives a tactile shape display mounted on the master manipulator. This device raises an array of pins against the operator's finger tip skin to recreate the object shape. This system has been tested on a force-reflecting teleoperated hand. Experiments confirm the system's ability to convey significant contact information.
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Kontarinis et al. (2002) studied this question.