A Force Dependent Scaling for Improving the Human Perception in Bilateral Teleoperation

In this paper a scaling function for an hapticsystem is the output of the psychophysics experiments that havebeen carried out with the aim of better understanding the humanperception capabilities. The experimental work consists inmeasuring the differential thresholds of force perception appliedto the hand-arm system. These findings support our claim thatthe human perception of forces and torques depends on forceintensity and works differently along different directions, thussuggesting that perception can be enhanced by suitable scaling.We have identified a scaling function for each direction and wehave shown that this variable scalings can be safely embeddedin a passivity based teleoperation system in order to improvethe feeling perceived by the user during the interaction withremote environments.