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Perception of delay in haptic telepresence systems

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Figure

Figure 1. The difference of the undelayed force referencef ∗(t) = A sin(ωt) (dashed) and the actual delayed sensory feedbackf (t) (solid) forms a force error Δf (t) (dash-dotted) with peakamplitude Δfmax ≈ kAωτ.
Figure 2. The experimental apparatus consists of a linear actuatordevice with a rubber-coated handle and a TFT screen used for visualstimulus presentation
Figure 4. An example of a manual movement with a given frequencyand amplitude. The dashed curve denotes the best sinusoidal fit to theactual movement which is plotted as a solid line.
Figure 5. Mean detection thresholds as a function of actualcorrespond to frequencymovement amplitude A and instructed frequencyˆ ω
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