Quality-of-Task Perception-Based Optimization of Time-Delayed Teleoperation Using a Hybrid Passivity-Digital Twin Control Strategy

This paper introduces a hybrid passivity-digital twin (P-DT) control strategy for teleoperation to enhance haptic feedback in partially unknown remote environments. While Digital Twin-based teleoperation mitigates communication delays through model-based interaction, it may provide less accurate force feedback when the model is insufficiently developed. To address this, the proposed hybrid P-DT strategy dynamically switches between passivity-based and Digital Twin-based control modes, depending on the quality of task perception (QoTP), which reflects the quality of the Digital Twin model. Passivity-based control is used to ensure stable but distorted feedback during the modeling phase. DT-based control provides accurate and responsive feedback once the QoTP metric indicates sufficient model quality. Experimental results under various delays and model update conditions show that the hybrid P-DT strategy outperforms standalone passivity-based and DT-based methods, with subjective quality ratings improving by up to 80% under a 150 ms delay.