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Telekit: a bilateral, teleoperated platform for hands-on learning.

Chuyuan Bie1, Irene A Kuling1, Julie Legrand1,2

  • 1Department of Mechanical Engineering, Eindhoven University of Technology, Eindhoven, Netherlands.

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|April 23, 2026
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Summary

This study introduces the Telekit, a low-cost bilateral teleoperation system for education. It enables hands-on learning by providing effective position tracking and stiffness perception, making teleoperation accessible.

Keywords:
bilateral teleoperation devicecontroldesignhaptics educationkinesthetic devices

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Area of Science:

  • Robotics and Control Systems
  • Haptic Interfaces
  • Educational Technology

Background:

  • Bilateral teleoperation is crucial for remote interaction in fields like surgery and industry.
  • Existing educational tools for teleoperation are often expensive or purely virtual, limiting practical learning.
  • There is a need for accessible, hands-on systems to teach teleoperation concepts.

Purpose of the Study:

  • To present the Telekit, a novel, low-cost bilateral teleoperation system.
  • To evaluate the system's effectiveness in supporting practical education in teleoperation.
  • To demonstrate the system's capability for both position tracking and haptic feedback.

Main Methods:

  • The Telekit is an open-source system based on Stanford's Hapkit, featuring a gear-based transmission and a force-sensitive resistor.
  • MATLAB was used for communication and control, implementing Position-Position (PP) and Position-Force (PF) control strategies.
  • PP control included damping and friction compensation; PF control utilized integrated force feedback for stiffness rendering.

Main Results:

  • Position-Position control achieved mean communication delays of 230 ms (low frequency) and 140 ms (high frequency), with tracking errors of 3.4° and 8.7°, respectively.
  • Position-Force control allowed users to perceive distinct stiffness levels (0.17 N/°, 0.41 N/°, 0.68 N/°).
  • The system demonstrated reliable functionality and meaningful haptic feedback across different operating frequencies.

Conclusions:

  • The Telekit successfully demonstrates that a low-cost platform can provide effective position tracking and stiffness perception.
  • The system offers an accessible solution for hands-on teleoperation education, bridging theory and practice.
  • Telekit enhances practical learning opportunities in robotics and remote interaction.