Macro-micro teleoperated systems with sensory integration

Identifying and implementing high fidelity scaling laws in scaled teleoperated systems is still a challenge. We propose the use of additional information (e.g., auditory and tactile) to complement and supplement the normal visual and force channels and thereby provide sensory enhancement when performing delicate tasks. We support our proposal by presenting experimental results from tests performed by humans on a hybrid hardware-software telemanipulation system. Our results show that integrating auditory and tactile feedback improved the performance of the operator