QoE Assessment in Haptic Teleoperation Systems: Position-Position versus Position-Force

In this paper, we make a comparison of haptic control schemes (position-position and position-force control schemes) for two haptic teleoperation systems by QoE (quality of experience) assessment. One is a remote control system with haptic media and video. In the system, we can write characters by controlling a haptic interface device at a remote place with another haptic interface device while watching video. The other is a remote instruction system with haptic media, video and voice. By using the system, a teacher can actively write characters and teach a student how to write the characters. The student can also write characters actively, and the teacher can confirm how the student writes the characters. We investigate the influences of network delay on QoE for the two systems with the two haptic control schemes.