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Improvement of Haptic QoE on Ball-hitting Task for Bilateral Teleoperation System

Takanori Miyoshi 1, Satoru Ishikawa 2, Kazuya Kanaishi 2, Pingguo Huang 3, and Yutaka Ishibashi 2
1. Department of System Safety, Nagaoka University of Technology, Nagaoka, Japan
2. Departmetn of Computer Science, Nagoya Institute of Technology, Nagoya, Japan
3. Faculty of Economics and Information, Gifu Shotoku Gakuen University, Gifu, Japan

Abstract— To improve haptic QoE, this paper discusses what kinds of transfer functions are effective when incorporated into a control system. The evaluation is carried out by measuring subjective scores for Mobility, Sense of collision, Stability, and Total quality in a ball-hitting task. The results confirm that positive feedback is effective for a haptic interface device to compensate for viscous reaction force due to communication delay, and that negative feedback is effective for cancelling the time delay included in the robot system. It is also shown that the operator can sense, as a real feeling, the effect of the transfer function derived from the control theory.

Index Terms—haptic quality of experience, bilateral teleoperation system, mean opinion score, communication delay, stability

Cite: Takanori Miyoshi, Satoru Ishikawa, Kazuya Kanaishi, Pingguo Huang, Yutaka Ishibashi, "Improvement of Haptic QoE on Ball-hitting Task for Bilateral Teleoperation System," International Journal of Mechanical Engineering and Robotics Research, Vol. 10, No. 12, pp. 660-667, December 2021. DOI: 10.18178/ijmerr.10.12.660-667

Copyright © 2021 by the authors. This is an open access article distributed under the Creative Commons Attribution License (CC BY-NC-ND 4.0), which permits use, distribution and reproduction in any medium, provided that the article is properly cited, the use is non-commercial and no modifications or adaptations are made.