Effect of Delay of Feedback Force on Perception of Elastic Force: A Psychophysical Approach

Ohnishi, Hiroyuki; Mochizuki, Kazuhiro

doi:10.1093/ietcom/e90-b.1.12

Cited by 39 publications

(28 citation statements)

References 7 publications

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“…A general hypothesis supported by past work [11][12][13] is that time delays in position feedforward and haptic feedback can disturb the human operator and cause misjudgements. The key question we pose in this paper is how is the user performance of this basic manipulation task influenced by delays in haptic feedback?…”

Section: Introductionmentioning

confidence: 99%

“…Subjected to a forced-choice paradigm (i.e., distinguish the stiffer of two surfaces or identify them as having the same stiffness), users perceived the surfaces to be stiffer than actual under delayed force feedback and the stiffness overestimation increased for larger delays [11,12]. Recently, the effect of crossing the boundary of a force field, where local stiffness is ill-defined, on the perception of delayed stiffness has been studied [13].…”

Section: Introductionmentioning

confidence: 99%

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Performance analysis of a manipulation task in time-delayed teleoperation

Yip

Tavakoli

Howe

2010

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abtract-There is ample research on the stabilization of haptic teleoperation systems under communication time delay. Little attention, however, has so far been paid to the usefulness of delayed haptic feedback on task performance. While the usefulness of haptic feedback in no-delay teleoperation has been previously established, this paper investigates whether haptic feedback helps to improve task performance in the presence of delay. We consider peg-in-the-hole insertion, which is a dexterous manipulation task requiring high force levels at certain points during the task execution. Through a user study involving unilateral and bilateral teleoperation experiments under different delays, it is observed that in both unilateral and bilateral teleoperation, the task completion time increases as delay increases. It is also seen that haptic feedback helps reduce the amount and rate of energy transfer to the environment and the occurrence of larger robot/environment interaction forces. However, with the users mindful of minimizing contact forces, haptic feedback causes the task to take more time compared to no haptic feedback regardless of the time delay. Thus, for tasks where low completion times are crucial given a tolerance for larger forces, unilateral feedback may be sufficient.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Performance analysis of a manipulation task in time-delayed teleoperation

Yip

Tavakoli

Howe

2010

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

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“…In the method, stimuli are presented numerous times in random order. Ohnishi and Mochizuki [101] use the method to measure the difference threshold (DL), which is the smallest change in stimulation that a person can detect, and Weber fraction, which is the fraction given by the difference threshold divided by the standard intensity, and so on for the perception of elastic force generated by a haptic interface device.…”

Section: (5) Constant Methodsmentioning

confidence: 99%

“…As subjective assessment methods, there are the rating scale method [98], SD (Semantic Differential) method [99], method of successive categories [100], pair comparison method [98], constant method [101], questionnaire survey [97], and so on.…”

Section: Subjective Assessmentmentioning

confidence: 99%

QoS Control and QoE Assessment in Multi-Sensory Communications with Haptics

Huang

Ishibashi

2013

IEICE Trans. Commun.

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SUMMARYMulti-sensory communications with haptics attract a number of researchers in recent years. To provide services of the communications with high realistic sensations, the researchers focus on the quality of service (QoS) control, which keeps as high quality as possible, and the quality of experience (QoE) assessment, which is carried out to investigate the influence on user perception and to verify the effectiveness of QoS control. In this paper, we report the present status of studies on multisensory communications with haptics. Then, we divide applications of the communications into applications in virtual environments and those in real environments, and we mainly describe collaborative work and competitive work in each of the virtual and real environments. We also explain QoS control which is applied to the applications and QoE assessment carried out in them. Furthermore, we discuss the future directions of studies on multi-sensory communications.

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“…Subjected to a forced-choice paradigm (i.e., distinguish the stiffer of the two surfaces or identify them as having the same stiffness), users perceived the surfaces to be stiffer than actual under delayed force feedback and the stiffness overestimation increased for larger delays [12,13]. Recently, the effect of crossing the boundary of a force field, where local stiffness is ill-defined, on the perception of delayed stiffness has been studied [14].…”

Section: Introductionmentioning

confidence: 99%

Performance Analysis of a Haptic Telemanipulation Task under Time Delay

2011

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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 occurrence of large robot/environment forces. Furthermore, graphical feedback helps users maintain the lowest range of forces at the cost of higher task completion times. With users mindful of minimizing contact forces, haptic/graphical feedback causes the task to take more time than unilateral control. Therefore, when short completion times are crucial given a tolerance for larger forces, force feedback only serves to increase the time required to perform the task; thus, unilateral control may be sufficient.

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Effect of Delay of Feedback Force on Perception of Elastic Force: A Psychophysical Approach

Cited by 39 publications

References 7 publications

Performance analysis of a manipulation task in time-delayed teleoperation

Performance analysis of a manipulation task in time-delayed teleoperation

QoS Control and QoE Assessment in Multi-Sensory Communications with Haptics

Performance Analysis of a Haptic Telemanipulation Task under Time Delay

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