Haptic feedback in a teleoperated box & blocks task

Irene A. Kuling, Kaj Gijsbertse*, Bouke N. Krom, Kees J. van Teeffelen, Jan B.F. van Erp

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

5 Citations (Scopus)
39 Downloads (Pure)


Haptic feedback is a desired feature in teleoperation as it can improve dexterous manipulation. Direct force feedback to the operator’s hand and fingers requires complex hardware and therefore substituting force by for instance vibration is a relevant topic. In this experiment, we tested performance on a Box & Blocks task in a teleoperation set-up with no feedback, direct force feedback and substituted vibration feedback. Objective performance was the same in all conditions as was the learning effect over three sessions, but participants had a clear preference for haptic feedback over no haptic feedback. The preferred type of feedback (force or vibration or both) varied over participants. In general, this study showed that haptic feedback is preferred in teleoperation, the Box & Blocks task seems not sensitive enough for our (and most) current teleoperation set-up(s), and vibration feedback as substitute for direct force feedback works well and can be used intuitively.

Original languageEnglish
Title of host publicationHaptics
Subtitle of host publicationScience, Technology, Applications - 12th International Conference, EuroHaptics 2020, Leiden, The Netherlands, September 6–9, 2020, Proceedings
EditorsIlana Nisky, Jess Hartcher-O’Brien, Michaël Wiertlewski, Jeroen Smeets
Place of PublicationCham
Number of pages9
ISBN (Electronic)978-3-030-58147-3
ISBN (Print)978-3-030-58146-6
Publication statusPublished - 5 Sept 2020
Event12th International Conference on Human Haptic Sensing and Touch Enabled Computer Applications, EuroHaptics 2020 - Leiden, Netherlands
Duration: 6 Sept 20209 Sept 2020
Conference number: 12

Publication series

NameLecture Notes in Computer Science
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


Conference12th International Conference on Human Haptic Sensing and Touch Enabled Computer Applications, EuroHaptics 2020
Abbreviated titleEuroHaptics


  • Dexterous manipulation
  • Haptic feedback
  • Teleoperation

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