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Performance analysis of teleoperation systems with different haptic and video time-delay

Teleoperation is the extension of a person's sensing and manipulation capability to a remote location. When teleoperation is performed over a great distance, a time delay is incurred in the transmission of information from one side to another. So far, many researchers try to reduce the effect of time-delay in several ways. [1–3] Our novel concept is to find out a relationship between performance of system and a matrix of two independent delay with the system has two modalities(channels) which are video and haptic. Especially, we expected to be able to bear witness in the case has same two channels' time-delay. There is no other previous work in general (only specific tele-surgery task [4]), till now. We proposed and achieved experiments to evaluate the performance with 10 subjects. Finally, result was different from we expected. When two channels' delays are same, the performance was poorer. Haptic-delay had made the system unstable. Accordingly, we need to complement this effect in future work.