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Related Experiment Video

Updated: Jul 9, 2026

Haptic/Graphic Rehabilitation: Integrating a Robot into a Virtual Environment Library and Applying it to Stroke Therapy
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Closed-Loop Manual Control With Tactile or Visual Feedback Under Wireless Link Impairments.

Suraj Suman, Pranav Mamidanna, Jimmy Jessen Nielsen

    IEEE Transactions on Haptics
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    Summary

    Wireless impairments significantly impact closed-loop human-machine interaction (HMI) systems. Visual feedback generally outperforms tactile feedback, though both degrade similarly under increasing wireless issues.

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    Area of Science:

    • Robotics and Human-Machine Systems
    • Wireless Communication Engineering
    • Haptic Feedback Technology

    Background:

    • Low-latency wireless connectivity enables advanced closed-loop human-machine interaction (HMI).
    • Wireless transmission impairments like latency, jitter, and packet loss degrade HMI control performance.
    • Understanding these impacts is crucial for reliable wireless HMI applications.

    Purpose of the Study:

    • To evaluate the effect of wireless impairments on a closed-loop joystick-controlled trajectory tracking task.
    • To compare the performance with visual versus tactile feedback under various wireless conditions.
    • To quantify the impact of wireless impairments on teleoperation tasks utilizing tactile feedback.

    Main Methods:

    • Simulated wireless impairments (latency, jitter, packet loss) in uplink and downlink.
    • Tested a closed-loop joystick-controlled trajectory tracking task.
    • Collected data from 12 able-bodied participants using visual and tactile feedback.

    Main Results:

    • Tracking performance was superior with visual feedback compared to tactile feedback across all impairment levels.
    • Average latency significantly degraded performance, while random latency fluctuations had minimal impact.
    • Performance degradation with increasing impairments was comparable for both visual and tactile feedback.

    Conclusions:

    • Wireless impairments pose challenges for closed-loop HMI, particularly affecting tactile feedback systems.
    • Average latency is a critical factor impacting performance, necessitating robust wireless network design.
    • This study quantifies wireless impairment effects on tactile feedback, informing tactile internet application development.