Communication-Induced Disturbances in Haptic Telepresence Systems

Authors:	Hirche Sandra, Technische Universität München, Germany Kuschel Martin, Technische Universität München, Germany Buss Martin, Technische Universität München, Germany
Topic:	3.3 Computers and Telematics
Session:	Telematics Applications and Networking
Keywords:	teleoperation, communication networks, delay, scattering problems

Abstract

In force-reflecting telepresence, communication delays can lead to instability. A common approach to passivate the system disturbed by constant delays is to apply the wave transformation. However, this leads to the effect of wave reflections that decrease performance. This paper provides a detailed description of wave reflections as arising in haptic telepresence systems. The influence on the perception of the remote environment is analyzed and validated experimentally.