Softness Comparison of Stabilization Control in Remote Robot System with Force Feedback

摘要

In this paper, we deal with four types of stabilization control for a remote robot system in which a user remotely operates an industrial robot arm with a force sensor by using a haptic interface device while watching video. The four types of control include the stabilization control with filters, the stabilization control by viscosity, the reaction force control upon hitting, and the switching control. To make a comparison of them quantitatively, we carry out the quality of experience (QoE) assessment in which we treat work of pushing four balls with different softness by a metal rod attached to the tip of the industrial robot arm.