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1. A Haptic Interface for the Teleoperation of Extensible Continuum Manipulators

   https://doi.org/10.1109/LRA.2020.2970642  

   C.G. Frazelle, A.D. Kapadia (April 2020, IEEE robotics automation letters)

   We describe a novel haptic interface designed specifically for the teleoperation of extensible continuum manipulators. The proposed device is based off of, and extends to the haptic domain, a kinematically similar input device for continuum manipulators called the MiniOct. This letter describes the physical design of the new device, the method of creating impedance-type haptic feedback to users, and some of the requirements for implementing this device in a bilateral teleoperation scheme for continuum robots. We report a series of initial experiments to validate the operation of the system, including simulated and real-time conditions. The experimental results show that a user can identify the direction of planar obstacles from the feedback for both virtual and physical environments. Finally, we discuss the challenges for providing feedback to an operator about the state of a teleoperated continuum manipulator. 

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2. Wrapped Haptic Display for Communicating Physical Robot Learning

   https://doi.org/10.1109/ROBOSOFT54090.2022.9762210  

   Valdivia, Antonio Alvarez; Shailly, Ritish; Seth, Naman; Fuentes, Francesco; Losey, Dylan P.; Blumenschein, Laura H. (April 2022, 2022 IEEE 5th International Conference on Soft Robotics (RoboSoft))

   Physical interaction between humans and robots can help robots learn to perform complex tasks. The robot arm gains information by observing how the human kinesthetically guides it throughout the task. While prior works focus on how the robot learns, it is equally important that this learning is transparent to the human teacher. Visual displays that show the robot’s uncertainty can potentially communicate this information; however, we hypothesize that visual feedback mechanisms miss out on the physical connection between the human and robot. In this work we present a soft haptic display that wraps around and conforms to the surface of a robot arm, adding a haptic signal at an existing point of contact without significantly affecting the interaction. We demonstrate how soft actuation creates a salient haptic signal while still allowing flexibility in device mounting. Using a psychophysics experiment, we show that users can accurately distinguish inflation levels of the wrapped display with an average Weber fraction of 11.4%. When we place the wrapped display around the arm of a robotic manipulator, users are able to interpret and leverage the haptic signal in sample robot learning tasks, improving identification of areas where the robot needs more training and enabling the user to provide better demonstrations. See videos of our device and user studies here: https://youtu.be/tX-2Tqeb9Nw 

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3. Stable Haptic Teleoperation of UAVs via Small L2 Gain and Control Barrier Functions

   Zhang, Dawei; Tron, Roberto (January 2021, Proceedings of the IEEERSJ International Conference on Intelligent Robots and Systems)

   null (Ed.)

   We present a novel haptic teleoperation approach that considers not only the safety but also the stability of a teleoperation system. Specifically, we build upon previous work on haptic shared control, which generates a reference haptic feedback that helps the human operator to safely navigate the robot but without taking away their control authority. Crucially, in this approach the force rendered to the user is not directly reflected in the motion of the robot (which is still directly controlled by the user); however, previous work in the area neglected to consider the possible instabilities in feedback loop generated by a user that over-responds to the haptic force. In this paper we introduce a differential constraint on the rendered force that makes the system finite-gain L2 stable; the constraint results in a Quadratically Constrained Quadratic Program (QCQP), for which we provide a closed-form solution. Our constraint is related to, but less restrictive than, the typical passivity constraint used in previous literature. We conducted an experimental simulation in which a human operator flies a UAV near an obstacle to evaluate the proposed method. 

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4. CrazyJoystick: A Handheld Flyable Joystick for Providing On-Demand Haptic Feedback in Extended Reality

   Chen, Yang; Yu, Xinlei; Culbertson, Heather (July 2025, IEEE World Haptics Conference)

   We present CrazyJoystick, a flyable handheld joystick allowing seamless interaction methods to change between joystick and hand-tracking while displaying on-demand haptic feedback in extended reality (XR). Our system comprises a quadrotor that can autonomously approach the user when needed, addressing the limitations of conventional handheld and wearable devices that require continuous carrying throughout interactions. CrazyJoystick dynamically reallocates all thrust for haptic rendering during stationary states, eliminating the need to hover while delivering feedback. A customized cage allows users to grasp the device and interact with virtual objects, receiving 3.5 degree-of-freedom feedback. This novel transition method allows us to harvest the aerial mobility from multi-rotor based haptic devices, while having high force-to-weight ratios from being handheld during interaction. This paper describes the design and implementation of CrazyJoystick, evaluates its force and torque performance, and usability of the system in three VR applications. Our evaluation of torque rendering found that users can perceive the direction with an accuracy of 92.2%. User studies further indicated that the system significantly improves presence in VR environments. Participants found on-demand haptic feedback intuitive and enjoyable, emphasizing the potential of CrazyJoystick to redefine immersive interactions in XR through portable and adaptive feedback mechanisms. 

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5. Real-time teleoperation of magnetic force-driven microrobots with a motion model and stable haptic force feedback for micromanipulation

   https://doi.org/10.1063/10.0034396  

   Duygu, Yasin Cagatay; Xie, Baijun; Zhang, Xiao; Kim, Min Jun; Park, Chung Hyuk (June 2025, Nanotechnology and Precision Engineering)

   Microrobots powered by an external magnetic field could be used for sophisticated medical applications such as cell treatment, micromanipulation, and noninvasive surgery inside the body. Untethered microrobot applications can benefit from haptic technology and telecommunication, enabling telemedical micro-manipulation. Users can manipulate the microrobots with haptic feedback by interacting with the robot operating system remotely in such applications. Artificially created haptic forces based on wirelessly transmitted data and model-based guidance can aid human operators with haptic sensations while manipulating microrobots. The system presented here includes a haptic device and a magnetic tweezer system linked together using a network-based teleoperation method with motion models in fluids. The magnetic microrobots can be controlled remotely, and the haptic interactions with the remote environment can be felt in real time. A time-domain passivity controller is applied to overcome network delay and ensure stability of communication. This study develops and tests a motion model for microrobots and evaluates two image-based 3D tracking algorithms to improve tracking accuracy in various Newtonian fluids. Additionally, it demonstrates that microrobots can group together to transport multiple larger objects, move through microfluidic channels for detailed tasks, and use a novel method for disassembly, greatly expanding their range of use in microscale operations. Remote medical treatment in multiple locations, remote delivery of medication without the need for physical penetration of the skin, and remotely controlled cell manipulations are some of the possible uses of the proposed technology. 

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