  Haptic feedback is essential for humans to successfully perform complex and
delicate manipulation tasks. A recent rise in tactile sensors has enabled
robots to leverage the sense of touch and expand their capability drastically.
However, many tasks still need human intervention/guidance. For this reason, we
present a teleoperation framework designed to provide haptic feedback to human
operators based on the data from camera-based tactile sensors mounted on the
robot gripper. Partial autonomy is introduced to prevent slippage of grasped
objects during task execution. Notably, we rely exclusively on low-cost
off-the-shelf hardware to realize an affordable solution. We demonstrate the
versatility of the framework on nine different objects ranging from rigid to
soft and fragile ones, using three different operators on real hardware.
