Modeling the effects of delayed haptic and visual feedback in a collaborative virtual environment
ACM Transactions on Computer-Human Interaction (TOCHI)
Human Factors Issues on the Design of Telepresence Systems
Presence: Teleoperators and Virtual Environments
Presence: Teleoperators and Virtual Environments
Presence: Teleoperators and Virtual Environments
A guided tour in haptic audio visual environments and applications
International Journal of Advanced Media and Communication
Influence of visuomotor action on visual-haptic simultaneous perception: A psychophysical study
HAPTICS '08 Proceedings of the 2008 Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
Perception of delay in haptic telepresence systems
Presence: Teleoperators and Virtual Environments
Human Performance Issues and User Interface Design for Teleoperated Robots
IEEE Transactions on Systems, Man, and Cybernetics, Part C: Applications and Reviews
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Time delay in haptic telepresence arising from compression or communication alters the phase characteristics of the environment impedance. This paper describes how well a human operator can discriminate these changes in haptic environments. Three different environments are rendered on a haptic interface and manually excited by a human operator using sinusoidal movements. We find that time delay in haptic feedback can be discriminated starting from 15 ms in a pure damper environment, 36 ms in a spring system, and 72 ms when moving a damped inertia. We conclude that the discrimination thresholds increase with the absolute phase between velocity and force signals resulting from the remote environment characteristics. These results may benefit the human-centered design of high-fidelity haptic communication protocols and haptic filters.