Performance analysis of a haptic telemanipulation task under time delay

Advanced Robotics, 2011

Michael C Yip, Mahdi Tavakoli, Robert D Howe

Publisher Link: http://www.tandfonline.com/doi/abs/10.1163/016918611×558216

Abstract: There is ample research on the effect of haptic teleoperation under delayed communication channels in terms of stability and system performance. Little attention, however, has been paid to the effect of delayed force feedback on users’ task performance and whether force feedback is beneficial under significant communication delays. This paper investigates whether force feedback improves user’s task performance in delayed teleoperation. We study peg-in-the-hole insertion/retraction, dexterous manipulation tasks involving high degrees of freedom and high forces at certain points during task execution. A user study involving unilateral (without force feedback), bilateral (with force feedback) and graphical feedback teleoperation under various delays is presented. We observed that for all feedback modalities, task completion times increase as delay increases. Haptic feedback helps reduce contact forces and the …

Yip et al. (2011) Performance analysis of a haptic telemanipulation task under time delay, Advanced Robotics, vol. 25, no. 5, pp. 651-673.