Our primary goal for this project was to give the user a sense of handling an object on the controller side of the robot when in reality only the follower was making contact with something.
On the follower gripper we have a force sensor with a small piece of foam to concentrate all force on the sensor. This sensor relays force values to the controller gripper.
At the pivot point of the controller finger we have a DC motor attached. When there is no force being applied at the follower gripper the finger can be closed without any resistance. When a force is registered a corresponding torque is applied to the finger using basic PID control, limiting the finger's movement. This feedback mimics the sense of holding an object on the controller end.