On the use of a base force/torque sensor in teleoperation

Using an industrial manipulator as a slave arm in a force-feedback teleoperation system requires to us deal with its poor backdrivability. Improving transparency of such a system, using a wrist force/torque sensor, is known as an effective and robust method. Another solution could be to use a base force/torque sensor. The paper focuses on the feasibility of such an approach in a force-feedback teleoperation context. It is then compared to a wrist force/torque sensor approach