Human Perception Oriented Control Aspects of Networked Telepresence and Teleaction Systems

Multimodal telepresence and teleaction systems enable a human operator to perform in remote environments through a telerobot and a communication network. From a control point of view, the networked force feedback control system is the key challenge. This paper discusses human perception oriented aspects for the analysis and synthesis of telepresence control architectures. Based on human perception insights several facts how communication time delay distorts the perceived environment characteristics are studied. A psychophysically motivated deadband control approach for network traffic reduction up to 87% is discussed with the deadband threshold parameter being determined in psychophysical experiments.