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

This paper discusses the phase lag of tele-operation 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.