This study developed and evaluated a haptic bilateral teleoperation system (HBTS) integrating the slave Franka Emika Panda Robot (FEP) with the master Geomagic Touch (GT) device controlled via a Cartesian compliance controller (compliance controller). The HBTS was developed to achieve high-precision remote manipulation with stable force feedback for researchers to collect demonstration trajectories for in-contact tasks.

Three different evaluation methods were conducted, including positional tracking accuracy, path-following precision, and task completion accuracy in the form of a shape-sorter test to determine the transparency and stability of the HBTS. Furthermore, the results indicated that the HBTS enabled precise contact-rich manipulation while preserving haptic transparency.

In addition, human operator performance improved significantly across tests, confirming rapid skill acquisition. More importantly, the study concluded that the compliance controller, combined with realtime motion control and haptic feedback, effectively bridges the transparency-stability trade-off in teleoperation.

Therefore, the HBTS's precision and adaptability make it suitable for complex tasks requiring positional accuracy and force sensitivity.