Thermal Feedback System from Robot Hand for Telepresence

Yeonseo Lee, Hyeonjung Lim, Yeunhee Kim, Youngsu Cha

Research output: Contribution to journalArticlepeer-review

1 Citation (Scopus)


In this study, we propose a thermal feedback system using a flexible thermal display glove (master part) and a robot hand (slave part) for telepresence. A piezoelectric sensor in the glove detects the posture of the user, which is required to operate the robot hand, while the robot hand monitors the temperature change of a grasped object and transfers the temperature feedback through thermoelectric devices mounted on the glove. Specifically, we utilize a controller to manage the thermal feedback system. Further, a series of experiments are conducted to evaluate the performance of the thermal feedback control system under heating and cooling conditions, and the responses at various desired temperatures are examined. The maximum temperature error and standard deviation under the steady-state conditions of the control system are studied. The power consumption during the response time and holding time is calculated and analyzed. Furthermore, the operation of the integrated thermal feedback system is demonstrated, and the performance of the controlled system is evaluated.

Original languageEnglish
Article number9306770
Pages (from-to)827-835
Number of pages9
JournalIEEE Access
Publication statusPublished - 2021
Externally publishedYes


  • Telerobotics
  • thermoelectric devices
  • wearable sensors

ASJC Scopus subject areas

  • Computer Science(all)
  • Materials Science(all)
  • Engineering(all)


Dive into the research topics of 'Thermal Feedback System from Robot Hand for Telepresence'. Together they form a unique fingerprint.

Cite this