QoE Assessment of Single-User Operation and Dual-User Operation in Remote Robot Systems with Force Feedback

This paper makes a subjective comparison between single-user operation and dual-user operation for cooperative work in remote robot systems with force feedback by QoE (Quality of Experience) assessment. A single user operates a remote robot by using a haptic interface device in the single-user operation, and two users operate the remote robot by using two haptic interface devices in the dual-user operation. In our assessment, each subject answers which of the operations is better than the other. Assessment results illustrate that the dual-user operation outperforms the single-user operation. Also, as the network delay increases, the dual-user operation is more desirable.