Extreme scenario operations rely heavily on human experience, but it is usually difficult for humans to handle them in person. Bionic teleoperation robot has the ability of remote real-time operation with high humanoid flexibility, which is expected to solve this problem. However, realizing haptic feedback with high power density and high force telepresence in the process of bionic teleoperation is a major challenge in the field of haptic feedback for teleoperation robots. This paper introduces a modular pneumatic tactile array and embedded pneumatic feedback layer. The device can generate continuous tactile feedback on the palm and five fingers of the hand to simulate the force telepresence feeling of the hand in the process of grasping objects. In this paper, the tactile feedback method is optimized in the process of environmental dynamics modeling, and the optimal design is proposed based on the distribution and action law of somatosensory receptors in the human hand. We evaluated the device in the study of human hand bionic teleoperation, and confirmed that Modular tactile soft actuator (MTSA) tactile feedback system significantly reduced cognitive load and enhanced the sense of immersion in bionic teleoperation tasks.
Luo et al. (2026) studied this question.