{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,8,28]],"date-time":"2026-08-28T13:33:18Z","timestamp":1787923998654,"version":"build-2784847793"},"reference-count":40,"publisher":"MDPI AG","issue":"9","license":[{"start":{"date-parts":[[2026,8,28]],"date-time":"2026-08-28T00:00:00Z","timestamp":1787875200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Shenzhen Science and Technology Program","award":["KJZD20240903100202004"],"award-info":[{"award-number":["KJZD20240903100202004"]}]},{"name":"Shenzhen Institute of Artificial Intelligence and Robotics for Society"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Biomimetics"],"abstract":"<jats:p>High-voltage grid maintenance and chemical processing demand dexterous manipulation in confined, visually occluded environments. Existing teleoperation systems present a severe cost\u2013fidelity trade-off: industrial platforms exceed USD 60,000 yet lack spatial directional resolution, while affordable alternatives omit fingertip force sensing entirely. We present STRP (Spatial Teleoperation Research Platform), a low-cost teleoperation system with concurrent motion capture and directional haptic feedback that encodes fingertip six-axis force vectors into four-directional vibrotactile cues (left, right, dorsal, volar). The master interface is a wearable 15-DoF exoskeleton glove with Hall-effect joint sensing and a 16-channel LRA array; the slave end is a 17-DoF dexterous hand with integrated micro six-axis force\/torque sensors. Experimental validation demonstrates 97.5% blind discrimination accuracy for directional cues and an end-to-end latency of approximately 28 ms. In teleoperated pick-and-place tasks, multi-directional tactile feedback reduced task completion time by 41% (31.2 s to 18.4 s) and peak grip force by 32% (4.11 N to 2.79 N) versus no-feedback baselines. In visually occluded wall exploration, directional feedback enabled systematic location of all target walls, whereas single-site volar feedback permitted detection of only volar-facing surfaces and no-feedback conditions precluded any spatial reasoning. These results identify spatial directional vibrotactile feedback as a distinct sensory channel that cannot be substituted by magnitude-only vibration or vision alone. STRP establishes a foundation for affordable, high-fidelity haptic teleoperation in hazardous environments.<\/jats:p>","DOI":"10.3390\/biomimetics11090609","type":"journal-article","created":{"date-parts":[[2026,8,28]],"date-time":"2026-08-28T12:27:46Z","timestamp":1787920066000},"page":"609","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["STRP: A Low-Cost Teleoperation Platform with Spatial Force Feedback for Visually Occluded Dexterous Manipulation in Hazardous Environments"],"prefix":"10.3390","volume":"11","author":[{"given":"Jingyuan","family":"Luo","sequence":"first","affiliation":[{"name":"Shenzhen Institute of Artificial Intelligence and Robotics for Society, Longgang District, Shenzhen 518129, China"}],"role":[{"vocabulary":"crossref","role":"author"},{"role":"methodology","vocabulary":"credit"},{"role":"software","vocabulary":"credit"},{"role":"validation","vocabulary":"credit"},{"role":"data-curation","vocabulary":"credit"},{"role":"writing-original-draft","vocabulary":"credit"},{"role":"formal-analysis","vocabulary":"credit"}]},{"ORCID":"https:\/\/orcid.org\/0009-0003-4897-6221","authenticated-orcid":false,"given":"Siquan","family":"Wu","sequence":"additional","affiliation":[{"name":"Shenzhen Institute of Artificial Intelligence and Robotics for Society, Longgang District, Shenzhen 518129, China"},{"name":"School of Science and Engineering, The Chinese University of Hong Kong, Longgang District, Shenzhen 518172, China"}],"role":[{"vocabulary":"crossref","role":"author"},{"role":"methodology","vocabulary":"credit"},{"role":"software","vocabulary":"credit"},{"role":"validation","vocabulary":"credit"},{"role":"formal-analysis","vocabulary":"credit"},{"role":"visualization","vocabulary":"credit"},{"role":"writing-original-draft","vocabulary":"credit"}]},{"ORCID":"https:\/\/orcid.org\/0009-0005-9695-3205","authenticated-orcid":false,"given":"Li","family":"Shen","sequence":"additional","affiliation":[{"name":"Shenzhen XJCSENSOR Technology Co., Ltd., Shenzhen 518115, China"}],"role":[{"vocabulary":"crossref","role":"author"},{"role":"resources","vocabulary":"credit"},{"role":"funding-acquisition","vocabulary":"credit"}]},{"given":"Chuliang","family":"Chi","sequence":"additional","affiliation":[{"name":"Shenzhen Institute of Artificial Intelligence and Robotics for Society, Longgang District, Shenzhen 518129, China"}],"role":[{"vocabulary":"crossref","role":"author"},{"role":"methodology","vocabulary":"credit"},{"role":"investigation","vocabulary":"credit"},{"role":"supervision","vocabulary":"credit"}]},{"given":"Hao","family":"Wu","sequence":"additional","affiliation":[{"name":"Shenzhen XJCSENSOR Technology Co., Ltd., Shenzhen 518115, China"}],"role":[{"vocabulary":"crossref","role":"author"},{"role":"resources","vocabulary":"credit"},{"role":"funding-acquisition","vocabulary":"credit"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2493-6033","authenticated-orcid":false,"given":"Yongquan","family":"Chen","sequence":"additional","affiliation":[{"name":"Shenzhen Institute of Artificial Intelligence and Robotics for Society, Longgang District, Shenzhen 518129, China"},{"name":"School of Science and Engineering, The Chinese University of Hong Kong, Longgang District, Shenzhen 518172, China"}],"role":[{"vocabulary":"crossref","role":"author"},{"role":"resources","vocabulary":"credit"},{"role":"writing-review-editing","vocabulary":"credit"},{"role":"supervision","vocabulary":"credit"},{"role":"project-administration","vocabulary":"credit"},{"role":"funding-acquisition","vocabulary":"credit"}]}],"member":"1968","published-online":{"date-parts":[[2026,8,28]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"205","DOI":"10.1016\/0967-0661(94)00078-U","article-title":"Teleoperation, Telerobotics and Telepresence: A Progress Report","volume":"3","author":"Sheridan","year":"1995","journal-title":"Control Eng. 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