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触觉交互受可变延迟的影响

Chantal Hutchison, Joseph Hewlett, Siamak Arbatani

IEEE transactions on haptics

|January 23, 2024

概括

使用新的DelayRIM方法的模型介导远程操作 (MMT) 通过补偿通信延迟来增强触觉反. 这种方法提高了系统的透明度,即使有可变的延迟,也不需要知道延迟分布.

科学领域:

机器人和人机交互的人机交互
控制系统工程控制系统工程

背景情况:

模型介导远程操作 (MMT) 使用本地环境模型补偿通信延迟.
现有的MMT方法通常是具体的,需要已知的延迟分布.
这限制了远程操作系统的适用性和稳定性.

研究的目的:

引入一种新的方法,即DelayRIM,用于在MMT中强大的延迟补偿.
开发一种不需要先前了解延迟分布的方法.
提高具有可变延迟的远程操作系统的透明度和性能.

主要方法:

延迟RIM利用减少接口模型 (RIM) 的时间步骤来处理延迟的信息.
它向触觉装置提供最新的力量反.
该方法在虚拟无人机双边远程操作场景中进行了测试,具有现实的可变延迟.

主要成果:

尽管有通信延迟,但DelayRIM有效地提供最新的力量反.
与其他方法相比,它在可变延迟条件下显示了更好的透明度.
该方法在虚拟无人机远程操作任务中显示出显著的性能提升.

结论:

延迟RIM为MMT中的延迟补偿提供了一种新且有效的解决方案.
它与延迟分布假设的独立性使其广泛适用于各种物理和虚拟系统.
这种方法提高了远程操作的性能和透明度,特别是在具有挑战性的,可变延迟的环境中.

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