Adaptive control of viscosity in remote control system with force feedback

In this paper, we propose adaptive viscosity control which dynamically changes the viscosity coefficient according to the network delay for a remote control system in which a user operates a haptic interface device at a remote place by using another haptic interface device while watching video. We first indicate that the optimum viscosity coefficient exists depending on the network delay. Next, we obtain equations which derive the optimum viscosity coefficient from the network delay. Then, we demonstrate the effectiveness of the proposed control by Quality of Experience (QoE) assessment.