Noise, But Not Uncoupled Stability, Reduces Realism and Likeability of Bilateral Teleoperation.

In bilateral teleoperation, user performance, user acceptance, and transparency are functions of the control laws that govern slave tracking and master force feedback. This study investigates the effects of teleoperator stability margin and quantization error noise on performance, likeability, and realism for a palpation task. With low noise, increased controller stiffness resulted in higher reali...