Novel Haptic Device and Control Strategy for Manipulator Teleoperation in Nuclear and Aerospace Tasks

Haptic teleoperation in nuclear and aerospace applications faces challenges such as a limited workspace, high payload demands, and the need for both coarse positioning and fine manipulation. Existing commercial systems often lack structural consistency between master and slave devices, which leads to complex motion mapping and limited adaptability. This paper presents a modular isomorphic haptic master device and dual-mode control strategy tailored for these environments. Two reconfigurable versions (5-DOF and 6-DOF) were developed to match the task-specific slave arms. The system supports autonomous-to-manual switching, joint and end-effector mapping, and real-time haptic rendering. Simulations and experiments verified their performance in representative scenarios. The proposed solution addresses structural mismatches and control inflexibility through a scalable task-driven design for high-risk remote operations.