Remote Robot Control Timing Sync for Visual-Tactile Lag
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Solution Overview
Problem
In remote control systems, users experience an incongruity sense due to time lags between control actions and image displays, particularly when communication delays occur between the master and slave units, leading to a mismatch in perceived and actual operations.
Innovation Solution
A remote control system that includes a master, a slave, a sensor, an imager, and a controller, where the controller delays action control to synchronize it with the display timing of captured images, reducing the lag between action control and image display timings, thereby minimizing the incongruity sense for the user.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If action control is performed immediately based on sensor detection, then responsiveness of control is improved, but time lag with image display increases causing user incongruity
Solution Approach 1:
The controller performs preliminary delay processing on the action control signal before execution. By intentionally delaying the control action timing to match the image display timing, the system synchronizes visual feedback with control execution, eliminating the incongruity sense while maintaining acceptable responsiveness through predictable timing adjustment.
2Speed
If communication speed between master and slave is increased, then control responsiveness is improved, but synchronization with image display becomes difficult
Solution Approach 1:
The controller measures the actual time lag between control actions and image display, then adjusts the delay amount dynamically based on this feedback. This closed-loop synchronization ensures stable alignment between control and visual feedback even when communication speed varies, maintaining synchronization stability adaptively.
Data Source
AI summary
A remote control system includes: an operator that is operated by a user; a robot that applies a treatment to an object in accordance with an action of the operator; a contact force sensor that is disposed in the robot and detects an operating state of the robot; an imager that captures images of at least one of the robot or the object; a display that displays the captured images captured by the imager and presents the captured images to the user operating the operator; and a controller that performs action control of at least one of the robot or the operator in accordance with detection results of the contact force sensor. The controller delays the action control to reduce a lag between the action control and display timings of the captured images by the display.