Bilateral teleoperation — KUKA iiwa and Touch haptic device
Context
Graduate laboratory project at Innopolis University — precursor to VR teleoperation and peg-in-hole thesis work on the same platform.
Problem
Unilateral teleoperation gives no force cues during contact tasks; operators cannot feel collisions or insertion resistance.
Approach
- Bilateral control between 3D Systems Touch haptic device and KUKA iiwa
- Cartesian and joint-space master–slave mapping
- Force reflection from endeffector to the operator (ROS / C++)
Outcome
Improved operator awareness and task performance vs. unilateral control; foundation for later peg-in-hole and thesis experiments.
Stack
ROS · C++ · Haptics · Control systems · KUKA Sunrise