Effects of Adaptive Viscoelasticity Control for Collaboration between Users in Remote Robot Systems with Force Feedback

By experiment, this paper investigates effects of the adaptive viscoelasticity control, which was previously proposed as QoS (Quality of Service) control to improve remote operations of haptic interface devices, for collaboration between users in two remote robot systems with force feedback. In the systems, each of two users operates haptic interface devices with his/her hand to carry an object grasped by two remote robot arms each of which has a force sensor while watching video. The paper also examines the influences of network delays between the two haptic interface devices, between the two robots, and between each haptic interface device and its corresponding robot. Experimental results demonstrate that the adaptive viscoelasticity control can suppress the force applied to the object.