Assessing Quality of Control in Tactile Cyber–Physical Systems

We evolve a methodology and define a metric to evaluate Tactile Cyber-Physical Systems (TCPS). Towards this goal, we use the step response analysis, a well-known control-theoretic method. The adoption includes replacing the human operator (or master) with a controller with known characteristics and analyzing its response to slave side step disturbances. The resulting step response curves demonstrate that the Quality of Control (QoC) metric is sensitive to control loop instabilities and serves as a good indicator of potential factors that contribute to operator-side cybersickness. Through experiments, we demonstrate how QoC accounts for network overheads such as the link latency and jitter and non-networking overheads such as the testbed settings and robot performances in a TCPS. We show that there is a one-to-one correlation between QoC and end-to-end latency, jitter, and packet drops of a TCPS implementation. We show through experiments how QoC can be used to estimate positional errors in tactile-visual control applications. Since higher positional errors can result in poor task performance, estimating them is useful in developing a better-performing TCPS. We also evaluate a TCPS using Fitts’ test and compare its results with QoC. We show that QoC is useful in distinguishing TCPS with differences in their specifications that are not detectable using Fitts’ test.