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Optimized Haptic Feedback and Natural Prehension System for Robotics and Virtual Reality Applications.

Eve Hirel¹, Odin Le Morvan¹, Marwan Mahdouf¹

¹School of National Institute of Applied Sciences-INSA Hauts-de-France, Campus Mont Houy, 59313 Valenciennes, France.

Sensors (Basel, Switzerland)

|April 14, 2026

Summary

This study introduces a cost-effective robotic system for precise remote object manipulation, enhancing virtual reality and general robotics with affordable, high-fidelity haptic feedback.

Keywords:

current sensor gripping motion haptic feedback robotics virtual reality

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Area of Science:

Robotics
Haptic Technology
Virtual Reality

Background:

Increasing demand for high-fidelity haptic interaction in evolving robotics and virtual reality applications.
High cost of commercial haptic interfaces limits adoption; low-cost alternatives often lack transparency.
Need for accessible, efficient haptic feedback devices for remote manipulation.

Purpose of the Study:

To design and develop an innovative, cost-effective master-slave robotic system for democratizing efficient haptic feedback.
To enable remote manipulation of objects up to 1 kg with a gripping force limit of 50 N.
To improve user immersion and handling precision in robotic applications.

Main Methods:

Developed a master haptic module (clamp) mimicking human gripping motion.
Implemented a custom haptic interface for real-time angular position transmission to the slave gripper.
Integrated a force sensor in the slave gripper to detect objects and trigger resistive feedback.
Designed a three-fingered slave gripper with three phalanges per finger for anatomical conformance.
Utilized a current sensor in the master module for haptic feedback, replacing expensive force-torque sensors.

Main Results:

The system successfully enables remote manipulation of objects up to 1 kg with controlled gripping force.
The master module effectively reproduces human gripping motion, and the slave gripper conforms to irregular geometries.
The use of current sensors provides responsive haptic feedback, enhancing the control loop.
Achieved a cost-effective solution without compromising feedback responsiveness or transparency.

Conclusions:

The developed master-slave robotic system offers an innovative and affordable solution for high-fidelity haptic interaction.
Democratizes efficient haptic feedback devices for broader applications in robotics and virtual reality.
Demonstrates the effectiveness of current sensors for responsive haptic feedback in cost-sensitive systems.