Transparency of haptic telepresence systems with constant time delay

This paper investigates how the network induced delay together with stabilizing strategies affect the performance of haptic telepresence systems in terms of transparency (human operators should feel as if they were directly acting in the remote environment). Therefore, the mechanical impedance (force over velocity) perceived by the human operator is compared with the real environment impedance in terms of their physical parameters stiffness, damping and mass dependent on the delay. The results are discussed from the human haptic perception point of view and validated in a one-degree-of-freedom telepresence experiment