The correlation between perception of motion lag and phase lag in tele-operation robot system

This paper discusses the phase lag of teleoperation system when operator begins to perceive the system's motion lag. The reduction of time lag is very important for high operation performance in tele-operation system. However the threshold of time lag for development of high operability is unknown. Therefore, I obtain the time lag when the operator perceived the motion lag in tele-operation. The magnitude estimation method is used for evaluation of perceived lag time. Furthermore, in this research, I assume that the time lag relates to phase lag of the system. Therefore I find the phase lag when the operator perceived the motion lag. And then, I show the relation between time lag and phase lag in operator's perception of lag and I indicate that the index of operator's lag perception is not time lag but phase lag.