Influences of network delay variation on haptic perception under adaptive reaction force control

Matsunaga, Kazuki; Ohnishi, Hiroyuki; Ishibashi, Yutaka

doi:10.1109/gcce.2014.7031184

Cited by 3 publications

(2 citation statements)

References 3 publications

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“…The adaptive reaction force control [7] includes the adaptive viscosity control [28], adaptive elastic control [29], and adaptive viscoelasticity control [30]. The adaptive elastic control dynamically changes the elastic coefficient according to network delay.…”

Section: Adaptive Reaction Force Control (Adaptive Elasticity Control)mentioning

confidence: 99%

Perspective Chapter: Cooperation among Humans and Robots in Remote Robot Systems with Force Feedback

Huang¹,

Ishibashi²

2023

Human-Robot Interaction - Perspectives and Applications

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By using remote robot systems with force feedback, we can largely improve the efficiency and accuracy of work among the systems over a network. In such a system, a human can operate a remote robot by manipulating a haptic interface device while monitoring the movement of the robot arm and perceiving force applied to an object touched/moved by an arm of the robot having a force sensor. The remote robot systems with force feedback are expected to be used in many areas such as outer space, deep sea, nuclear power plants, and disaster areas, which humans cannot enter easily. In these situations, three types of cooperation among humans and robots (that is, between humans and robots, between humans, and between robots) are highly demanded. In this chapter, we introduce our remote robot systems with force feedback and describe the three types of cooperation among humans and robots in the systems. We also explain QoS (Quality of Service) control and stabilization control as our challenges and solutions for effective cooperation. Furthermore, we discuss future directions of the cooperation.

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Section: Adaptive Reaction Force Control (Adaptive Elasticity Control)mentioning

confidence: 99%

Perspective Chapter: Cooperation among Humans and Robots in Remote Robot Systems with Force Feedback

Huang¹,

Ishibashi²

2023

Human-Robot Interaction - Perspectives and Applications

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show abstract

“…The viscosity is proportional to the relative velocity (i.e., the velocity of the object relative to the fluids), and it can be calculated by multiplying the relative velocity by the viscosity coefficient. The adaptive reaction force control includes the adaptive viscosity control [23], adaptive elastic control [24], and adaptive viscoelasticity control [25]. The adaptive elastic control dynamically changes the elastic coefficient according to network delay, the adaptive viscosity control dynamic changes the viscosity coefficient according to the network delay and the velocity of the haptic interface device, and the adaptive viscoelasticity control combines the two types of control.…”

Section: Adaptive Reaction Force Controlmentioning

confidence: 99%

QoS Control in Remote Robot Operation with Force Feedback

Huang¹,

Ishibashi²

2021

Robotics Software Design and Engineering

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Recently, many researchers focus on studies of remote robot operation with force feedback. By using force feedback, since users can touch remote objects and feel the shape, weight, and softness of each object, the efficiency and accuracy of operation can be largely improved. However, when the haptic information such as force and/or position information is transmitted over a QoS (Quality of Service) non-guaranteed network like the Internet, QoE (Quality of Experience) and stability may seriously deteriorate. Therefore, it is important to carry out QoS control and stabilization control together to solve the problems. In this chapter, we mainly focus on QoS control. We also introduce our remote robot system with force feedback which we constructed to study QoS control and stabilization control by experiment. In the system, a user operates a remote industrial robot with a force sensor by using a local haptic interface device while monitoring the robot operation by a video camera. We handle two types of operation; operation with a single remote robot system and that between two remote robot systems. We explain several types of QoS control which we have proposed so far for remote robot operation with force feedback. Finally, we discuss the challenges and future directions of QoS control in remote robot operation with force feedback.

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Compensating the Effect of Communication Delay in Client-Server--Based Shared Haptic Virtual Environments

Schuwerk

Chaudhari

et al. 2015

ACM Trans. Appl. Percept.

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Shared haptic virtual environments can be realized using a client-server architecture. In this architecture, each client maintains a local copy of the virtual environment (VE). A centralized physics simulation running on a server calculates the object states based on haptic device position information received from the clients. The object states are sent back to the clients to update the local copies of the VE, which are used to render interaction forces displayed to the user through a haptic device. Communication delay leads to delayed object state updates and increased force feedback rendered at the clients. In this article, we analyze the effect of communication delay on the magnitude of the rendered forces at the clients for cooperative multi-user interactions with rigid objects. The analysis reveals guidelines on the tolerable communication delay. If this delay is exceeded, the increased force magnitude becomes haptically perceivable. We propose an adaptive force rendering scheme to compensate for this effect, which dynamically changes the stiffness used in the force rendering at the clients. Our experimental results, including a subjective user study, verify the applicability of the analysis and the proposed scheme to compensate the effect of time-varying communication delay in a multi-user SHVE.

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Influences of network delay variation on haptic perception under adaptive reaction force control

Cited by 3 publications

References 3 publications

Perspective Chapter: Cooperation among Humans and Robots in Remote Robot Systems with Force Feedback

Perspective Chapter: Cooperation among Humans and Robots in Remote Robot Systems with Force Feedback

QoS Control in Remote Robot Operation with Force Feedback

Compensating the Effect of Communication Delay in Client-Server--Based Shared Haptic Virtual Environments

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