학술논문
Haptic Interactions Subject to Variable Latency
Document Type
Periodical
Source
IEEE Transactions on Haptics IEEE Trans. Haptics Haptics, IEEE Transactions on. 17(1):66-71 Jan, 2024
Subject
Language
ISSN
1939-1412
2329-4051
2334-0134
2329-4051
2334-0134
Abstract
Model-Mediated Teleoperation (MMT) between a haptic device and a remote or virtual environment uses a local model of the environment to compensate for latency of communication. MMT is often case-specific, and requires underlying latency distributions to be known. We propose a novel approach – which we refer to as the DelayRIM – which uses the time-stepping aspect of a Reduced Interface Model for the environment to render an up-to-date force to the haptic device from the delayed information. RIM is applicable to any physical or virtual system, and the DelayRIM itself makes no underlying assumption about the latency distribution. We show that for realistic variable delays, the DelayRIM improves transparency compared to other methods for a virtual drone bilateral teleoperation scenario.