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Preliminary user evaluation of inaccuracy in haptic guidance for teleoperated maintenance task of nuclear power plant

This paper evaluated the usefulness of haptic guidance and investigated the influence of inaccuracy of haptic guidance on maintenance of nuclear power plant using teleopration system. The peg-in-hole task was performed as a benchmark test, and the completion time and contact / guidance force were measured with a performance metric. In conclusion, although haptic guidance was shown to be useful for task performance, inaccuracy was rather detrimental to task performance.