**4. Problems to be solved**

In this section, we explain the problems to be solved for widespread applications of the remote robot system with force feedback.

#### **4.1 Problem of cooperation**

There exist several types of cooperation using the remote robot system with force feedback, for example, cooperation between human and human, robot and human, robot and robot. In the cooperation between human and human, the will transmission between humans is important, and efficient transmission methods

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**Figure 3.**

*QoS Control in Remote Robot Operation with Force Feedback*

**4.3 Network delay, delay jitter, and packet loss**

should be established for the cooperation. In the cooperation between human and robot, it is necessary to consider whether humans support robots or robots support humans, and how to support each other more efficiently. In the cooperation between robot and robot, we have two cases; in one case, the robots can cooperate by communications between the slave terminals; in the other case, they can do with force sensors because they are connected to each other through an object when they carry or hand-deliver the object. The cooperation is important when speedy control

In the cooperation between human and human, it is important to transmit users' will (for example, movement directions and speeds) to each other, and will transmission using haptic may reduce the transmission time, and it is possible to transmit wills in delicate manipulation work in which it is difficult to transmit wills only by traditional methods (i.e., wills transmitted by audio and video) [15]. Therefore, it is necessary to establish an efficient method to transmit/determine wills by haptic

As described in Section 1, when the information about force and/or position transmitted over a QoS non-guaranteed network like the Internet, the reaction force may become large and QoE may be seriously deteriorate owing to the network delay, delay jitter, and packet loss. It is necessary to carry out QoS control to solve

In the remote robot system with force feedback, the system may be unstable since there exists a control loop between a haptic interface device and a remote robot (see **Figure 3**). As the network delay increases, the movement of the remote robot is largely later than that of the haptic interface device, the reaction force becomes larger, and unstable phenomena such vibrations of the robot and device may occur more often. Also, in remote cooperation, there exists more loops in the cooperation systems and the unstable phenomena become more complex and difficult problems [16]. It is important to carry out stabilization control to solve the

In the remote cooperation, there exist emergency cases in which network interruption occurs and users may be not able to control remote robots to do

*DOI: http://dx.doi.org/10.5772/intechopen.97011*

**4.2 Problem of will transition**

for the cooperation.

the problems.

problems.

**4.4 Unstable phenomena**

**4.5 Cooperation in case of emergency**

*Control loop between haptic interface device and robot.*

is needed.

*QoS Control in Remote Robot Operation with Force Feedback DOI: http://dx.doi.org/10.5772/intechopen.97011*

should be established for the cooperation. In the cooperation between human and robot, it is necessary to consider whether humans support robots or robots support humans, and how to support each other more efficiently. In the cooperation between robot and robot, we have two cases; in one case, the robots can cooperate by communications between the slave terminals; in the other case, they can do with force sensors because they are connected to each other through an object when they carry or hand-deliver the object. The cooperation is important when speedy control is needed.

## **4.2 Problem of will transition**

*Robotics Software Design and Engineering*

**3.2 Work in dangerous areas**

**Figure 2.**

*Expected applications.*

accuracy of work by force feedback.

cooperation among humans and robots is needed.

of the remote robot system with force feedback.

**3.3 Disaster rescue and relief**

**4. Problems to be solved**

**4.1 Problem of cooperation**

disaster situation.

It is difficult for human to work in danger areas such as deep sea and outer space. Therefore, we can employ robots to work in the danger areas instead of humans. By using the remote robot system with force feedback, we can control the robot which works in danger areas from a remote safe area. We can improve the efficiency and

The remote robot system with force feedback can also be used for rescue and relief from disasters such as earthquake and concentrated downpour. In this case, the remote robot can be rescue robot or drone, and the system can be used to help people, to distribute goods for disaster victims. Also, it can be used to confirm

In these applications, it is difficult for only robots to work because the situations

In this section, we explain the problems to be solved for widespread applications

There exist several types of cooperation using the remote robot system with force feedback, for example, cooperation between human and human, robot and human, robot and robot. In the cooperation between human and human, the will transmission between humans is important, and efficient transmission methods

are unknown in advance. Thus, human's support is needed. This means that we need robots to help humans and robots also need human's supports. Therefore, the

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In the cooperation between human and human, it is important to transmit users' will (for example, movement directions and speeds) to each other, and will transmission using haptic may reduce the transmission time, and it is possible to transmit wills in delicate manipulation work in which it is difficult to transmit wills only by traditional methods (i.e., wills transmitted by audio and video) [15]. Therefore, it is necessary to establish an efficient method to transmit/determine wills by haptic for the cooperation.

#### **4.3 Network delay, delay jitter, and packet loss**

As described in Section 1, when the information about force and/or position transmitted over a QoS non-guaranteed network like the Internet, the reaction force may become large and QoE may be seriously deteriorate owing to the network delay, delay jitter, and packet loss. It is necessary to carry out QoS control to solve the problems.

#### **4.4 Unstable phenomena**

In the remote robot system with force feedback, the system may be unstable since there exists a control loop between a haptic interface device and a remote robot (see **Figure 3**). As the network delay increases, the movement of the remote robot is largely later than that of the haptic interface device, the reaction force becomes larger, and unstable phenomena such vibrations of the robot and device may occur more often. Also, in remote cooperation, there exists more loops in the cooperation systems and the unstable phenomena become more complex and difficult problems [16]. It is important to carry out stabilization control to solve the problems.

#### **4.5 Cooperation in case of emergency**

In the remote cooperation, there exist emergency cases in which network interruption occurs and users may be not able to control remote robots to do

**Figure 3.** *Control loop between haptic interface device and robot.*

collaborative work. In this case, remote robots need to intercommunicate with each other and finish cooperation based on force sensors. That is, we need to handle the case of emergency and establish effective methods in the case.

From the above, there are many problems to be solved. Here, we mainly focus on QoS control which alleviates the influences of network delay, delay jitter, and packet loss.
