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Human Perceived Transparency with Time Delay

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Advances in Telerobotics

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 31))

Summary

Transparency — in the sense that the technical systems and communication network should not be felt by the human — is one of the key issues in telerobotics control design. The communication characteristics is one of the crucial factors for the achievable transparency level in bilateral telerobotic control architectures. Especially time delay — resulting from the communication network between the operator site and the tele-robot — deteriorates the realistic (transparent) perception of the remote environment. The quantitative analysis of the time delay influences on transparency is the major goal of this chapter. Technical measures along with human haptic perception characteristics play a key role when evaluating transparency. The guiding questions for this chapter are: how does constant time delay modify the mechanical properties displayed to the human, and can the human perceive this distortion or not. The mass, spring, and damper characteristics as displayed to the human are derived as function of the time delay and the environment parameters. Known psychophysical facts are applied to analyze and interpret the results from a human perception point of view. The results are validated in simulations, experiments, and human user studies.

This research has been performed while the first author was with the Institute of Automatic Control Engineering, Technische Universität München, D-80290 Munich, Germany.

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Author information

Authors and Affiliations

  1. Fujita Lab, Dept. of Mechanical and Control Engineering, Tokyo Institute of Technology, 152-8552, Tokyo, Japan

    Sandra Hirche

  2. Institute of Automatic Control Engineering, Technische Universität München, D-80290, Munich, Germany

    Martin Buss

Authors
  1. Sandra Hirche
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  2. Martin Buss
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Editor information

Editors and Affiliations

  1. Dpto. de Automática, Ingeniería Electrónica e Informática Industrial, Universidad Politécnica de Madrid, 28006, Madrid, Spain

    Manuel Ferre  & Rafael Aracil  & 

  2. Institute of Automatic Control Engineering (LSR), Technische Universität München, D-80290, Munich, Germany

    Martin Buss

  3. Laboratory of Automation and Robotics Department of Electronics, Computer Science and Systems, University of Bologna, 40136, Bologna, Italy

    Claudio Melchiorri

  4. Robotics Lab. Depto. de Ingeniería de Sistemas y Automática, Universidad Carlos III de Madrid, 28911, (Leganés) Madrid, Spain

    Carlos Balaguer

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© 2007 Springer-Verlag Berlin Heidelberg

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Hirche, S., Buss, M. (2007). Human Perceived Transparency with Time Delay. In: Ferre, M., Buss, M., Aracil, R., Melchiorri, C., Balaguer, C. (eds) Advances in Telerobotics. Springer Tracts in Advanced Robotics, vol 31. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-71364-7_13

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  • DOI: https://doi.org/10.1007/978-3-540-71364-7_13

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-71363-0

  • Online ISBN: 978-3-540-71364-7

  • eBook Packages: EngineeringEngineering (R0)

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