Influences of network delay variation on haptic perception under adaptive reaction force control

In this paper, we investigate the influences of network delay variation on haptic perception under the adaptive reaction force control, which dynamically changes the elastic coefficient used for the reaction force calculation according to the network delay, for two types of work by a psychophysical method. To clarify the effect of the control, we compare the control with no control in which the adaptive reaction force control is not performed. As a result, we demonstrate that the adaptive reaction force control restrains fluctuation of haptic perception owing to the network delay variation.