Implementation and evaluation of decorators for delayed live streaming video on remote control system

A remote control system is one of the applications of com munication. An user at a local side requires feedback information from a remote side to operate. In general, visual information and haptic information are used. However, it is impossible to synchronize local side and remote side perfectly because of communication delay and processing time. When the delay becomes long, the operability of remote control system becomes worse. To overcome this difficulty, this article proposed to introduce visual decorators, which are mainly researched in the field of virtual reality, in remote control system. The proposed decorators superimposed real-time remote side information on delayed remote video playout. A position decorator indicated the position of remote robot, and a force decorator indicated the force of the robot. Experimental results showed two decorators improve the operability of the remote control system over network with delay. This results confirmed the effectiveness of proposed decorators for remote control system with delayed video playout.