Teleoperation, one of the oldest
areas of robotics, has experienced considerable growth in the last
two decades. Main causes for this trend are the need
for increased safety levels for human operators and lower production
costs. In this work, a three d.o.f. local manipulator (two
d.o.f. for force and one d.o.f. for torque) is developed.
This hand controller, intended for robot or mobile teleoperation systems,
has force reflection in two axes and torque reflection in
the third axis. using a robotic hand developed at INAUT
as a remote device, laboratory experiments on each axis (one
at a time) have shown good results. An impedance controller
at the remote system allows one to carry out interactive
tasks with the environment such as polishing, insertion and grinding,
where it is necessary to control and accommodate the interaction
forces and torques in order to avoid hazards for both
the manipulated objects and the remote robot.