Haptic Teleoperation System Based on Parallel Mechanism: Design and Implementation

Teleoperation systems are essential in high-risk domains such as minimally invasive surgery, nuclear maintenance, and space exploration. However, effective haptic feedback usually requires expensive force sensors and specialized hardware, resulting in high cost and system complexity. To address this issue, this paper presents a cost-effective sensorless teleoperation system based on a unified impedance control framework. The system adopts a master-slave architecture, where a custom high-stiffness Delta parallel manipulator serves as the master device and a 6-DOF serial manipulator serves as the slave device. The forward channel maps master-side motion to slave-side pose commands, while the feedback channel synthesizes virtual spring-damper interaction forces from masterslave pose discrepancies without distal force/torque sensors. Experiments demonstrate stable tracking performance and contact-related haptic cues during constrained interaction. The proposed system reduces hardware overhead and integration complexity, providing a practical solution for educational and general industrial teleoperation applications.