QoE Assessment of Weight Perception in Remote Robot System with Force Feedback

In this paper, we handle a remote robot system with force feedback in which a user can operate a remote industrial robot by using a haptic interface device to assess influences of weight change on human perception of weight by Quality of Experience (QoE) assessment. In our assessment, when we change the weight hung from the industrial robot arm, each subject perceives the weight through the haptic interface device, and then the subject answers whether the weight has been changed. The results of the assessment show that subjects hardly feel a change in weight of less than or equal to about 10 gf.