Haptic Interface of Mobile Robot with Delay Time via Internet

The haptic interface enables an operator to feel remote environment via Internet. However there is uncertain delay time via Internet, the feedback information can’t be gotten by the haptic interface in time. The speed of the sampling and calculation in the interface device is faster than the speed of the information feedback from the remote robot. So it is difficult for an operator to feel the force in the remote robot quickly and correctly via Internet. In this paper, A calculation method of the feedback force is proposed in order to implement the fast response of the haptic interface. The simulation results are given to show the effectiveness of the proposed method.