Transparency measure

From EuroVR Knowledge Base

Description

A telepresence system is called transparent if the human operator is not able to distinguish between a direct interaction with an environment and the interaction by telepresence. According to Lawrence (1993) the equality of the displayed impedance Zÿ and the environmental impedance Ze is required for a transparent telepresence system. A mechanical impedance is assumed to be approximated by a LTI system, Z(s) = ms2 + ps + k, with inertia m, damping coefficient p and stiffness coefficient k. If these parameters are equal for the remote environment and the displayed impedance, then the transparency criteria is assumed to be fulfilled.

Primary Reference or Source

• Lawrence, D. (1993). Stability and Transparency in Bilateral Teleoperation. IEEE Transaction on Robotics and Automation 9, 624–637.