Human Adapted Control 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. In addition to audio-visual information communication, from a control point of view, the stability of the networked force feedback control system is the key challenge. This paper discusses a human adapted deadband control approach for network traffic reduction up to 85%, where the deadband threshold parameter is designed in accordance with psychophysical findings of just noticeable differences in force and velocity perception. Methods for transparency analysis – human operators should feel as if they are directly acting in the remote environment – of telepresence systems are proposed and several facts how communication time delay distorts the perceived impedance are observed.