Switching Scheme between Adaptive Viscosity Control and Stabilization Control by Viscosity in Remote Control System with Haptics

This paper proposes a switching scheme in a remote control system with haptics where a user operates a remote haptic interface device by manipulating another haptic interface device while monitoring the operation of the remote haptic interface device by a video camera. The proposed scheme exerts the adaptive viscosity control and adaptive elasticity control (i.e., the adaptive viscoelasticity control) when the network delay is small, and the scheme carries out the stabilization control by viscosity and the adaptive elasticity control when the network delay is large. By QoE (Quality of Experience) assessment, we investigate the effect of the switching scheme in terms of the operability of haptic interface device. As a result, we demonstrate that the switching scheme is superior to the other types of control.