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Effect of Prediction under Stabilizing Control by Viscosity in Remote Haptic Control System

We examine the effect of prediction under the stabilizing control by viscosity in a remote haptic control system. In the system, while watching video, a user uses a local haptic device to control a remote haptic device. The prediction is used to estimate the haptic device's future position to improve the interactivity under the control, which reduces the haptic device's movement distance by an amount to produce viscosity. The effectiveness of the prediction under the stabilizing control by viscosity is clarified in our assessment. Also, assessment results show that the optimal value of prediction time exists, and the value depends on the network latency.