  In-hand pivoting is one of the important manipulation skills that leverage
robot grippers' extrinsic dexterity to perform repositioning tasks to
compensate for environmental uncertainties and imprecise motion execution.
Although many researchers have been trying to solve pivoting problems using
mathematical modeling or learning-based approaches, the problems remain as open
challenges. On the other hand, humans perform in-hand manipulation with
remarkable precision and speed. Hence, the solution could be provided by making
full use of this intrinsic human skill through dexterous teleoperation. For
dexterous teleoperation to be successful, interfaces that enhance and
complement haptic feedback are of great necessity. In this paper, we propose a
cutaneous feedback interface that complements the somatosensory information
humans rely on when performing dexterous skills. The interface is designed
based on five-bar link mechanisms and provides two contact points in the index
finger and thumb for cutaneous feedback. By integrating the interface with a
commercially available haptic device, the system can display information such
as grasping force, shear force, friction, and grasped object's pose. Passive
pivoting tasks inside a numerical simulator Isaac Sim is conducted to evaluate
the effect of the proposed cutaneous feedback interface.
