Effect of Prediction Control in Remote Haptic Control System

In this paper, we examine the effect of prediction control in a remote haptic control system by Quality of Experience (QoE) assessment. In the system, a user operates a haptic interface device (just called a haptic device here) at a remote place by using one more haptic device while monitoring the operation by a video camera. The prediction control predicts the position of a haptic device a constant time (called the prediction time) earlier than the current time. Assessment results demonstrate that the optimum prediction time exists according to the network latency. We also clarify the relation between the optimum prediction time and the network latency by carrying out regression analysis. We further illustrate how largely the prediction control mitigates the influence of network latency.