Haptic communication, the exchange of force and tactile information during dancing or moving a table together, has been shown to benefit the performance of human partners. Similarly, it could also be used to improve the performance of robots working in contact with a human operator. As we move to more robot integrated workspaces, how common network features such as delay or jitter impact haptic communication need to be better understood. Here using a human-like interactive robotic controller, that has been found to be indistinguishable by humans to human interaction, we evaluate how subjects’ performance and perception is altered by varying levels of transmission delay. We find that subjects are able to recognise haptic delay at very small levels within haptic interaction. However, while they are consciously aware of the delay they can only compensate for it up until a certain point, after which they perceive it as the addition of noise/impedance into the system.

中文翻译：

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短时间延迟不会阻碍触觉通信的好处

触觉交流，在跳舞或一起移动桌子时交换力量和触觉信息，已被证明有利于人类伙伴的表现。同样，它也可用于提高与人类操作员接触的机器人的性能。随着我们转向更多的机器人集成工作空间，需要更好地了解延迟或抖动等常见网络特性如何影响触觉通信。在这里，我们使用类似人类的交互式机器人控制器，已发现人类与人类交互无法区分，我们评估了受试者的表现和感知如何通过不同水平的传输延迟而改变。我们发现受试者能够在触觉交互中以非常小的水平识别触觉延迟。然而，