Vibrotactile haptic feedback for human-robot interaction in leader-follower tasks

In this paper we explore a vibrotactile feedback paradigm which allows the human to intuitively interact in human-robot applications. In particular we focus on a haptic bracelet which helps the human to move along trajectories that are feasible for the leader-follower formation tasks. The bracelet consists of three vibrating motors circling the forearm and represents a non invasive way to provide essential information to the human. Experiments performed on a public of 15 subjects revealed the effectiveness of the proposed device.