Bilateral teleoperation through networks

Nowadays haptics (tactile sensation) is receiving much attentions. To transmit a vivid tactile sensation, real-time processing is necessary. In these circumstances, time delay caused in networks or some devices is a very serious problem. Therefore in this paper, influence of time delay on bilateral systems for haptics is examined.At first, the influence is verified by the analysis based on an evaluation index “Transparency". Characteristic behavior of time delay can be found out. Then experimental results via the network between Shinanomachi and Yagami campus (Keio University) are shown. Transmission of vivid tactile sensation of remote environment is realized.

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