Insights on Human Adapted Control of Networked Telepresence and Teleaction Systems

Multimodal telepresence and teleaction systems enable a human operator to perform in remote environments through a telerobot and a communication network. The focus of this article is on the networked haptic (force feedback) control system with the key challenges of stability and transparency. Transparency is achieved if the human cannot distinguish between direct and teleinteraction. Human perception plays an important role for transparency evaluation. The first part of this article discusses insights how human haptic perception of the remote environment is affected by communication time delay when using the standard passivation control approach with the wave variable (scattering) transformation to achieve stability. The second line of discussion concentrates on network traffic reduction by a novel psychophysically motivated deadband control approach. Human perception is considered in both approaches and experimental validation results are presented.