Improvement of operability in remote robot control with force feedback

In this paper, we assess the quality of experience (QoE) about the operability of a haptic interface device for work in which a user operates an industrial robot with a force sensor at a remote location by using the haptic interface device while watching a video. We treat work of putting a metal rod attached to the tip of the industrial robot arm into a hole, and we demonstrate how much the operability is degraded owing to the network delay. To improve the operability, we also carry out the adaptive reaction force control, which we previously proposed, and investigate its effect.