Graphical Force and Haptic Feedback Teleoperation System for Live Power Lines Maintaining Robot

Teleoperation system has been an indispensable part of the research on live power line maintaining robots. In this paper, we propose a teleoperation system combining direct haptic feedback (DHF) with graphical force feedback (GFF), which effectively improves the sensitivity of direct force feedback, the control accuracy of teleoperation and the efficiency of maintenance tasks. We create and place suitably the color progress bar for the operator to experience the force feedback graphically, and build the direct haptic feedback with using mathematical methods and practical perspectives. Five participators are invited to test the three different modes of force feedback: 1) DHF off and GFF off, 2) DHF on and GFF off, 3) GFF and DHF all on. Seventy-five trials in total show that the GFF and DHF together will promote the stability and precision of teleoperation, and the performance on perceptibility and response of operators.