# TacGELLO：用于3D打印遥操作主端的触觉接触反馈

> 原文链接：https://robotics.hellobike.com/papers/2026-10-04-2610-05583
> 频道：papers | 更新日期：2026-10-04 | 标签：arxiv, cs.RO
> 核心摘要：TacGELLO为无反馈被动主端加入夹爪触觉和关节负载提示，并在六次UR3会话中验证跟踪、时延与闭合量。

# TacGELLO：用于3D打印遥操作主端的触觉接触反馈

::: v-pre
> 原文链接：[TacGELLO: Tactile Contact Feedback for a 3D-Printed Teleoperation Leader](https://arxiv.org/abs/2610.05583)（arXiv 2610.05583 · 发布日期：2026-10-04）

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

TacGELLO为无反馈被动主端加入夹爪触觉和关节负载提示，并在六次UR3会话中验证跟踪、时延与闭合量。

## 核心要点

- 被动主端手臂只传递操作者运动，不能返回远端接触或负载线索。
- 方法利用3D打印主端现有舵机，在夹爪触发器提供触觉接触反馈，在关节提供基于电流的负载提示。
- AnySkin接触检测触发扳机位置保持，跟随端关节电流变化调节主端舵机输出限制以产生提举阻力。
- 六次UR3会话中，命令跟踪误差为0.15--0.36° RMSE，轨迹滞后82--98 ms；TacGELLO闭合量低于原界面。

**验证范围与局限**：验证范围为一名操作者的六次UR3会话及分段TacGELLO抓取区间。

## 英文摘要 (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.

作者：Younsoo Kim, Sangmin Song, Sarath Kodagoda, Marc Carmichael, Karthick Thiyagarajan
:::

## 原始参考来源 (Sources)

- [arXiv 2610.05583：TacGELLO: Tactile Contact Feedback for a 3D-Printed Teleoperation Leader](https://arxiv.org/abs/2610.05583)