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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Publication details
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- Open access
- Green open access
Cite this article
APA 7
Kim, Y., Song, S., Kodagoda, S., Carmichael, M., & Thiyagarajan, K. (2026). TacGELLO: Tactile Contact Feedback for a 3D-Printed Teleoperation Leader. https://omanscience.com/en/articles/tacgello-tactile-contact-feedback-for-a-3d-printed-teleoperation-leader
MLA 9
Kim, Younsoo, et al. "TacGELLO: Tactile Contact Feedback for a 3D-Printed Teleoperation Leader." https://omanscience.com/en/articles/tacgello-tactile-contact-feedback-for-a-3d-printed-teleoperation-leader.
Chicago (author–date)
Kim, Younsoo, Sangmin Song, Sarath Kodagoda, Marc Carmichael, and Karthick Thiyagarajan. 2026. "TacGELLO: Tactile Contact Feedback for a 3D-Printed Teleoperation Leader." https://omanscience.com/en/articles/tacgello-tactile-contact-feedback-for-a-3d-printed-teleoperation-leader.
Harvard
Kim, Y., Song, S., Kodagoda, S., Carmichael, M. and Thiyagarajan, K. (2026) 'TacGELLO: Tactile Contact Feedback for a 3D-Printed Teleoperation Leader', Available at: https://omanscience.com/en/articles/tacgello-tactile-contact-feedback-for-a-3d-printed-teleoperation-leader.
Vancouver
Kim Y, Song S, Kodagoda S, Carmichael M, Thiyagarajan K. TacGELLO: Tactile Contact Feedback for a 3D-Printed Teleoperation Leader. https://omanscience.com/en/articles/tacgello-tactile-contact-feedback-for-a-3d-printed-teleoperation-leader
IEEE
Y. Kim, S. Song, S. Kodagoda, M. Carmichael, and K. Thiyagarajan, "TacGELLO: Tactile Contact Feedback for a 3D-Printed Teleoperation Leader," https://omanscience.com/en/articles/tacgello-tactile-contact-feedback-for-a-3d-printed-teleoperation-leader.