A study on the effect of haptic to video time-delay on teleoperation and a comment for improving the performance

In this paper we investigate the effect of haptic to video time-delay on the performance of teleoperation. To analyze the effect of the delay on the performance of teleoperation, specially designed experiment, which is moving square objects from one place to another place, was conducted with 10 subjects in 16 different cases. Participants didn't have any prior information about the amount of haptic and video time-delay. Completion time and number of dropping are used for evaluating the performance. Initially we assumed that synchronized haptic and video time-delay would give best performance, however as a result, we found that the accuracy was increased when haptic and video time-delay were synchronized, and the completion time was decreased when one of the time delays, haptic or video, was decreased. One more interesting fact that we found is that little bit smaller haptic delay than video delay even increase the accuracy more than synchronized delay case.