Elnwegy, AliAliElnwegyYoussef, FadyFadyYoussefKern, Thorsten AlexanderThorsten AlexanderKern2023-09-072023-09-072023-07-10IEEE World Haptics Conference (WHC 2023)https://hdl.handle.net/11420/43166This article discusses the design of a telemanipulation system providing haptic feedback for remote sensing of textured surfaces to improve and test vibrotactile actuator design. The system includes two UR10e Collaborative robots, each with a vibrotactile end-effectors for providing accurate texture-emulation. The system is designed with multilayered control, including local supervisors for managing operation modes and data transfer, and a system-wide supervisor that is responsible for managing the behavior of the local supervisor units and the data transfer between them.enhttps://creativecommons.org/licenses/by/4.0/Multi-layered controlTelemanipulationUR10e robotsEngineeringConference Paper not in Proceedings10.15480/882.851310.15480/882.8513Conference Paper