Proposal and Validation of an Index for the Operator's Haptic Sensitivity in a Master-Slave System

摘要

In this paper, the authors propose an index for evaluating the haptic sensitivity of an operator when a slave device contacts the environment during operating a master-slave system. The index is derived from the velocity contrast of the master device before and after contact, which is hypothesized to represent the operator's sensation of the contact. By means of psychophysics experiment, how the change in the operator's haptic sensitivity being reflected in the index value is studied. The index is then validated by another psychophysics experiment. The experimental results show that the change of operator's haptic sensitivity can be represented correctly by the change of index value. This index is expected to be used in the parameter design of bilateral control systems.