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arXiv · 2610.05583

TacGELLO: Tactile Contact Feedback for a 3D-Printed Teleoperation Leader

Younsoo Kim·Sangmin Song·Sarath Kodagoda·Marc Carmichael·Karthick Thiyagarajan
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Abstract

Passive leader arms transmit an operator's motion without returning remote contact or load cues. TacGELLO uses the existing servos of a 3D-printed leader for tactile contact feedback at the gripper trigger and current-based load cues at the arm joints. AnySkin contact detection activates a trigger position hold, while changes in follower joint current adjust leader-servo output limits to command resistance during lifting. Across six UR3 sessions with one operator, sent-command tracking error was 0.15--0.36$^\circ$ RMSE, with estimated trajectory lag of 82--98\,ms. Tactile onset was logged in 60 of 62 segmented TacGELLO grasp intervals. Median commanded closure after tactile or width-based contact references was 0.7--2.1\,mm with TacGELLO and 13.0--13.9\,mm with the original interface.

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Younsoo Kim, Sangmin Song, Sarath Kodagoda, Marc Carmichael, Karthick Thiyagarajan. 2026-10-04. TacGELLO: Tactile Contact Feedback for a 3D-Printed Teleoperation Leader. https://arxiv.org/abs/2610.05583

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