Display of information to the operator in advanced physical and virtual telepresence systems has to comprise different modalities of human perception. Especially concerning the haptic modalities, model-based generation of appropriate stimuli to the operator is an important task. For this reason future research in telepresence and virtual reality requires a mathematical model of human perception due to external stimuli produced by feedback devices in a multi-modal telepresence system. The paper presents a mathematical framework for describing the principles of human perception in the terminology of systems theory. Formal descriptions of experiments performed in a virtual environment show the viability and advantage from the presented approach.
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