A minimum jerk predictor for teleoperation with variable time delay
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Optimization criteria for human trajectory formation in dynamic virtual environments
EuroHaptics'10 Proceedings of the 2010 international conference on Haptics - generating and perceiving tangible sensations: Part II
A policy-blending formalism for shared control
International Journal of Robotics Research
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Haptic assistance functions for a telepresence system are presented and assessed. These assistance functions are based on the augmentation of exchanged position and force data, and they are intended to increase the transparency of the telepresence system while maintaining stability. We present the concept and implementation of different assistance functions. Furthermore, we show the setup and results of a psychophysical experiment, which was designed to evaluate the effects of the assistance functions on perceived realism. As a result, the position assistance can increase stability and safety without negatively affecting transparency, and the force assistance can even increase the feeling of presence under certain conditions.