The effect of time delays on tele-haptics

Wang, D.; Tuer, K.; Rossi, Mauro; Ni, Liya; Shu, Joseph

doi:10.1109/have.2003.1244717

Cited by 34 publications

(6 citation statements)

References 4 publications

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“…They found time delay to prolong task completion time by a multiplicative factor. Similar effects have also been observed in delayed haptic environments (Alhalabi, Horiguchi, & Kunifuji, 2003;Wang, Tuer, Rossi, Ni, & Shu, 2003). Recently, Jay et al (2007) examined the impact of delayed haptic and visual feedback from the partner in a collaborative virtual environment with two operators.…”

Section: Introductionmentioning

confidence: 67%

Perception of Delay in Haptic Telepresence Systems

Rank

Shi

Hirche

2010

Presence: Teleoperators and Virtual Environments

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Time delay is recognized as an important issue in haptic telepresence systems as it is inherent to long-distance data transmission. What factors influence haptic delay perception in a time-delayed environment are, however, largely unknown. In this article, we examine the impact of manual movement frequency and amplitude in a sinusoidal exploratory movement as well as the stiffness of the haptic environment on the detection threshold for delay in haptic feedback. The results suggest that the detection of delay in force feedback depends on the movement frequency and amplitude, while variation of the absolute feedback force level does not influence the detection threshold. A model based on the exploration movement is proposed and guidelines for system design with respect to the time delay in haptic feedback are provided.

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Section: Introductionmentioning

confidence: 67%

Perception of Delay in Haptic Telepresence Systems

Rank

Shi

Hirche

2010

Presence: Teleoperators and Virtual Environments

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“…Wang and his colleagues [16] describe an experiment where two users were asked to move the MPB Device [17] as if they were shaking hands (mutual touch). During this experiment, both users were in Canada, a user in Ottawa and the other in Kitchener.…”

Section: Related Workmentioning

confidence: 99%

Evaluating ALPHAN with Multi-user Collaboration

Osman

Eid

Saddik

2008

2008 12th IEEE/ACM International Symposium on Distributed Simulation and Real-Time Applications

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In our previous work we introduced a novel application layer protocol, named ALPHAN, for haptic data communication. In this paper, we present a thorough evaluation of the protocol using a multi-user collaborative haptic application. The benchmark application consists of a simple game where three users attempt to lift a 3D triangular shape and place it in a triangular hole. The performance metrics and the test bed of the protocol evaluation are also discussed. It is found that a delay of 150 ms or higher caused the participating users not even to feel the existence of each other. Also a comparison between the two users and three users scenarios is considered. Finally, we comment on our findings and provide directions for prospective research.

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“…Consequently, any time delay in the communication channel can impair the stability of the involved control loops, degrade transparency, and reduce task completion time (Wang, Tuer, Rossi, Ni, & Shu, 2003;Jay, Glencross, & Hubbold, 2007). In order to keep the introduced processing delay in the haptic channel at an absolute minimum, haptic signal updates have to be transmitted immediately.…”

Section: Introductionmentioning

confidence: 99%

Perception-Based Data Reduction for Haptic Force-Feedback Signals Using Velocity-Adaptive Deadbands

Kammerl

Vittorias

Nitsch

et al. 2010

Presence: Teleoperators and Virtual Environments

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In telepresence and teleaction (TPTA) systems, the transmission of haptic signals puts high demands on the applied signal processing and communication procedures. When running a TPTA session across a packet-based communication network (e.g., the Internet), minimizing the end-to-end delay results in packet rates of up to the applied sampling rate of the local control loops at the human system interface and the teleoperator. The perceptual deadband data reduction approach for haptic signals successfully addresses the challenge of high packet rates in networked TPTA systems and satisfies the strict delay constraints. In this paper, we extend the underlying perceptual model of the deadband approach by incorporating psychophysical findings on human force-feedback discrimination during operators' relative hand movements. By applying velocity-dependent perception thresholds to the deadband approach, we observe further improvement in efficiency and performance due to improved adaption to human haptic perception thresholds. The psychophysical experiments conducted reveal improved data reduction performance of our proposed haptic perceptual coding scheme without impairing the user experience. Our results show a high data reduction ability of up to 96% without affecting system transparency or the operator's task performance.

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The effect of time delays on tele-haptics

Cited by 34 publications

References 4 publications

Perception of Delay in Haptic Telepresence Systems

Perception of Delay in Haptic Telepresence Systems

Evaluating ALPHAN with Multi-user Collaboration

Perception-Based Data Reduction for Haptic Force-Feedback Signals Using Velocity-Adaptive Deadbands

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