Dynamic switching control of haptic transmission direction in remote control system

This paper deals with switching control which dynamically switches the haptic transmission direction (one-way or two-way) according to network latency in a remote control system. The system controls a haptic interface device at a remote place with another haptic interface device while watching video. We propose automatic selection of switching time according to the contents of work. This proposal selects the optimal switching time automatically by identifying the contents of work when the haptic transmission direction is switched. In this paper, we also demonstrate the effectiveness of the proposal by subjective assessment for work of writing multiple characters and work of drawing a figure without lifting a pen from a sheet.