Teleoperation systems are used when human planning and decision-making capabilities are needed during robotic remote operations. To execute meaningful tasks remotely, the operator has to be able to simultaneously control multiple degrees of freedom (DoFs) of the slave robot and efficiently receive information from the remote site. In these cases, haptic feedback has been shown to improve the operator's task execution performance [1].
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Rebelo et al. (2014) studied this question.
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