[2606.04157] Selecting haptic guidance models in teleoperation: guidelines from a comparative user study
[Submitted on 2 Jun 2026]
Title:Selecting haptic guidance models in teleoperation: guidelines from a comparative user study
View a PDF of the paper titled Selecting haptic guidance models in teleoperation: guidelines from a comparative user study, by Alexis Boulay (AUCTUS) and 2 other authors
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Abstract:Haptic guidance in teleoperation enhances operator performance through force feedback. This paper presents guidelines to select the most appropriate model considering the task, the environment and the operator. We define a unified formulation expressing most common models (spring-damper, potential field, and guiding tube) as variations of a stiffness-damping system with model-specific guiding functions. We conducted a user study comparing the three classical models across six scenarios with varying environmental conditions in a vertical farming task. Results show no universally superior model: spring-damper excels in cluttered environments, potential field in free spaces (but it shows risks near obstacles), and guiding tube offers a balanced compromise. We propose novel objective metrics to evaluate the interaction, and show that guiding force magnitude correlates with comfort and trust scores. These findings provide practical model selection guidelines through environmental characteristics and real-time evaluation metrics.
Comments: EUROHAPTICS 2026 - EuroHaptics International Conference, Jul 2026, Sienna, Italy
Subjects:
Robotics (cs.RO)
Cite as: arXiv:2606.04157 [cs.RO]
(or arXiv:2606.04157v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2606.04157
arXiv-issued DOI via DataCite (pending registration)
Submission history
From: Alexis Boulay [view email] [via CCSD proxy] [v1] Tue, 2 Jun 2026 19:22:10 UTC (17,617 KB)
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