Efficiency of Cooperation between Human and Remote Robot System with Force Feedback

Abstract

In this paper, we investigate influences of network delay on the efficiency of cooperative work between a human and a remote robot system with force feedback by experiment. In the system, a human can manipulate a remote industrial robot having a force sensor by using a haptic interface device while watching video. In our experiment, the human hands over (or receives) an object with an electric hand attached to the tip of the industrial robot arm to (or from) a magic hand held by another human. Experimental results show that the average time of work increases as the network delay becomes larger.