@article{7701,
  author = {J. G. W. Wildenbeest and D. A. Abbink and C. J. M. Heemskerk and F. C. T. van der Helm and H. Boessenkool},
  title = {The Impact of Haptic Feedback Quality on the Performance of Teleoperated Assembly Tasks},
  abstract = {In teleoperation, haptic feedback allows the human operator to touch the remote environment. Yet, it is only partially understood to what extent the quality of haptic feedback contributes to human-in-the-loop task performance. This paper presents a human factors experiment in which teleoperated task performance and control effort are assessed for a typical (dis-)assembly task in a hard-to-hard environment, well known to the operator. Subjects are provided with four levels of haptic feedback quality: no haptic feedback, low-frequency haptic feedback, combined low- and high-frequency haptic feedback, and the best possible—a natural spectrum of haptic feedback in a direct-controlled equivalent of the task. Four generalized fundamental subtasks are identified, namely: 1) free-space movement, 2) contact transition, 3) constrained translational, and 4) constrained rotational tasks. The results show that overall task performance and control effort are primarily improved by providing low-frequency haptic feedback (specifically by improvements in constrained translational and constrained rotational tasks), while further haptic feedback quality improvements yield only marginal performance increases and control effort decreases, even if a full natural spectrum of haptic feedback is provided.},
  year = {2013},
  journal = {IEEE Transactions on Haptics},
  volume = {6},
  number = {2},
  pages = {242-252},
  url = {http://www.computer.org/csdl/trans/th/2013/02/tth2013020242-abs.html},
  doi = {10.1109/TOH.2012.19},
  language = {eng},
}