Transparenz haptischer telepräsenzsysteme mit konstanter zeitverzögerung

This article investigates how communication network induced time delay together with a passivity based control strategy affect the performance of haptic telepresence systems in terms of transparency (human operators should feel as if they are directly acting in the remote environment). Therefore, the mechanical impedance (force over velocity) perceived by the human operator is compared with the real environment impedance in terms of their physical parameters stiffness, mass, and damping depending on the time delay. The results are discussed from a human haptic perception point of view. Based on that, a tuning rule considering the limitations of real systems is proposed. Finally, the obtained results are validated in a one-degree-of-freedom telepresence experiment.