The correlation between perception of motion lag and phase lag in tele-operation robot system

Tele-operator performance and their perception of system time lags when completing mobile robot tasks

“…The tests were undertaken using a delay to introduce arbitrary t ime lags [43][44]. Tel-operators completed driving tests along various routes and the effect of the delay was assessed to expose an onset of a perception of time lag at tmaxlag• A ma gnitude estimation technique was applied [3] and [45].…”

“…The relationship between time lag, the magnitude of the Gs(s) = exp(-As) (I) effect of the lag and the approximate power function was Magnitude Estimation [3] del ivered measurable assessments of the effects from introducing time lags. Most imp ortantly, the perceived t ime lag was provided by this calculation.…”

“…T ele-operation systems have a tendency to find some middle ground between clarity and stability margin [15]. Some approaches concerning the control of tele-operated structures with a constant time delay have been described [16][17] and for vaiying time delays in [3] and [18][19].…”

“…T ime lag from an input given by a joystick to a requested output to the motor controller is a factor that influences driving performance [3]. Performance can be affected if an operator perceives a time lag.…”

“…T he length of time lag when the operator begins to notice the lag is tmaxlag, T he Perception T ime. T ime lags have been investigated in [4][5] but the perception of the lag has seldom been studied, exceptions being [2] who mentioned the idea and [3] that investigated time lag for a robot arm. T he perception of time lag has never been properly investigated for teleoperated mobile robots.…”