{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,10]],"date-time":"2026-06-10T08:09:49Z","timestamp":1781078989150,"version":"3.54.1"},"reference-count":53,"publisher":"MIT Press","content-domain":{"domain":["direct.mit.edu"],"crossmark-restriction":true},"short-container-title":[],"published-print":{"date-parts":[[2024,9,10]]},"abstract":"<jats:title>Abstract<\/jats:title>\n               <jats:p>Haptic teleoperation is a means of dexterously manipulating environments wherein a human operator can be situated several hundreds of kilometers away from the site of manipulation. Time delays between the local and remote sites pose problems for the user experience. Model-mediated teleoperation addresses these problems, but assumes a sufficiently representative model of the operator and of the environment. When applied to complex environments, this model becomes difficult to work with. A solution to this difficulty lies in the fact that human perceptual capabilities are limited. So too, possibly, is the amount of feedback needed in order to accomplish tasks effectively. In this work, we review information on human perception of the environmental properties involved in environmental perception (inertia, friction, roughness, compliance, and geometry). Moreover, we detail how these properties can be modeled. Finally, we propose some open questions that are relevant in understanding the link between the environment presented to the operator and their effectiveness at accomplishing tasks.<\/jats:p>","DOI":"10.1162\/pres_a_00434","type":"journal-article","created":{"date-parts":[[2024,7,24]],"date-time":"2024-07-24T16:19:24Z","timestamp":1721837964000},"page":"453-467","update-policy":"https:\/\/doi.org\/10.1162\/mitpressjournals.corrections.policy","source":"Crossref","is-referenced-by-count":4,"title":["Model-Mediated Teleoperation: An Operator-Centric Perspective"],"prefix":"10.1162","volume":"33","author":[{"given":"Christophe","family":"van der Walt","sequence":"first","affiliation":[{"name":"University of Twente Netherlands"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Sara","family":"Falcone","sequence":"additional","affiliation":[{"name":"University of Twente Netherlands"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jan","family":"van Erp","sequence":"additional","affiliation":[{"name":"University of Twente Netherlands"},{"name":"Netherlands Organization for Applied Scientific Research Netherlands"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Stefano","family":"Stramigioli","sequence":"additional","affiliation":[{"name":"University of Twente Netherlands"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Douwe","family":"Dresscher","sequence":"additional","affiliation":[{"name":"University of Twente Netherlands"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"281","published-online":{"date-parts":[[2024,9,10]]},"reference":[{"issue":"4","key":"2024091020292235500_B1","doi-asserted-by":"publisher","first-page":"580","DOI":"10.1016\/j.triboint.2005.11.014","article-title":"Friction models for sliding dry, boundary and mixed lubricated contacts","volume":"40","author":"Andersson","year":"2007","journal-title":"Tribology International"},{"issue":"1523","key":"2024091020292235500_B2","doi-asserted-by":"publisher","first-page":"1499","DOI":"10.1098\/rspb.2003.2364","article-title":"Projecting sensations to external objects: Evidence from skin conductance response","volume":"270","author":"Armel","year":"2003","journal-title":"Proceedings of the Royal Society of London. Series B: Biological Sciences"},{"key":"2024091020292235500_B3","doi-asserted-by":"crossref","first-page":"1144","DOI":"10.3758\/APP.72.4.1144","article-title":"Haptic perception of gravitational and inertial mass","author":"Bergmann Tiest","year":"2010","journal-title":"Attention, Perception, & Psychophysics"},{"issue":"24","key":"2024091020292235500_B4","doi-asserted-by":"publisher","first-page":"2775","DOI":"10.1016\/j.visres.2010.10.005","article-title":"Tactual perception of material properties","volume":"50","author":"Bergmann Tiest","year":"2010","journal-title":"Vision Research"},{"issue":"2","key":"2024091020292235500_B5","doi-asserted-by":"publisher","first-page":"177","DOI":"10.1016\/j.actpsy.2006.03.002","article-title":"Haptic and visual perception of roughness","volume":"124","author":"Bergmann Tiest","year":"2007","journal-title":"Acta Psychologica"},{"issue":"4","key":"2024091020292235500_B6","doi-asserted-by":"publisher","first-page":"189","DOI":"10.1109\/TOH.2009.16","article-title":"Cues for haptic perception of compliance","volume":"2","author":"Bergmann Tiest","year":"2009","journal-title":"IEEE Transactions on Haptics"},{"key":"2024091020292235500_B7","doi-asserted-by":"crossref","DOI":"10.1007\/978-1-4419-9368-7","volume-title":"Bond graph modelling of engineering systems: Theory, applications and software support","author":"Borutzky","year":"2011"},{"issue":"6669","key":"2024091020292235500_B8","doi-asserted-by":"publisher","first-page":"756","DOI":"10.1038\/35784","article-title":"Rubber hands \u201cfeel\u201d touch that eyes see","volume":"391","author":"Botvinick","year":"1998","journal-title":"Nature"},{"key":"2024091020292235500_B9","first-page":"440","article-title":"Towards a test battery to benchmark dexterous performance in teleoperated systems","author":"Catoire","year":"2018","journal-title":"Haptics: Science, Technology, and Applications"},{"issue":"1","key":"2024091020292235500_B10","doi-asserted-by":"publisher","first-page":"165","DOI":"10.1080\/00223980.1961.9916468","article-title":"Kinaesthetic discrimination: The difference limen for finger span","volume":"51","author":"Dietze","year":"1961","journal-title":"The Journal of Psychology"},{"issue":"5","key":"2024091020292235500_B11","doi-asserted-by":"publisher","first-page":"925","DOI":"10.1109\/TRO.2005.852261","article-title":"Contact impedance estimation for robotic systems","volume":"21","author":"Diolaiti","year":"2005","journal-title":"IEEE Transactions on Robotics"},{"issue":"4","key":"2024091020292235500_B12","doi-asserted-by":"publisher","first-page":"741","DOI":"10.1109\/TRO.2011.2142430","article-title":"Bilateral telemanipulation with time delays: A two-layer approach combining passivity and transparency","volume":"27","author":"Franken","year":"2011","journal-title":"IEEE Transactions on Robotics"},{"key":"2024091020292235500_B13","doi-asserted-by":"publisher","first-page":"284","DOI":"10.1037\/h0036331","article-title":"Human information processing and sensory modality: Crossmodal functions, information complexity, memory, and deficit","volume":"81","author":"Freides","year":"1974","journal-title":"Psychological Bulletin"},{"key":"2024091020292235500_B14","doi-asserted-by":"publisher","first-page":"133","DOI":"10.1007\/s00221-008-1507-5","article-title":"Magnitude estimation of softness","volume":"191","author":"Friedman","year":"2008","journal-title":"Experimental Brain Research"},{"issue":"2","key":"2024091020292235500_B15","doi-asserted-by":"publisher","first-page":"248","DOI":"10.1016\/j.ijpsycho.2011.11.014","article-title":"Prediction, perception and agency","volume":"83","author":"Friston","year":"2012","journal-title":"International Journal of Psychophysiology"},{"issue":"1521","key":"2024091020292235500_B16","doi-asserted-by":"publisher","first-page":"1211","DOI":"10.1098\/rstb.2008.0300","article-title":"Predictive coding under the free-energy principle","volume":"364","author":"Friston","year":"2009","journal-title":"Philosophical Transactions of the Royal Society B: Biological Sciences"},{"key":"2024091020292235500_B17","doi-asserted-by":"crossref","first-page":"127","DOI":"10.1109\/ICSMC.1990.142073","article-title":"Multi-dimensional hidden markov model of telemanipulation tasks with varying outcomes","author":"Hannaford","year":"1990","journal-title":"1990 IEEE International Conference on Systems, Man, and Cybernetics Conference Proceedings"},{"issue":"1","key":"2024091020292235500_B18","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1109\/70.988969","article-title":"Time-domain passivity control of haptic interfaces","volume":"18","author":"Hannaford","year":"2002","journal-title":"IEEE Transactions on Robotics and Automation"},{"key":"2024091020292235500_B19","doi-asserted-by":"crossref","first-page":"77","DOI":"10.1007\/978-3-662-44193-0_11","article-title":"Haptic shape constancy across distance","volume-title":"Haptics: Neuroscience, devices, modeling, and applications","author":"Hartcher-O'Brien","year":"2014"},{"issue":"2","key":"2024091020292235500_B20","doi-asserted-by":"publisher","first-page":"588","DOI":"10.1109\/TSP.2007.906746","article-title":"Perception-based data reduction and transmission of haptic data in telepresence and teleaction systems","volume":"56","author":"Hinterseer","year":"2008","journal-title":"IEEE Transactions on Signal Processing"},{"key":"2024091020292235500_B21","doi-asserted-by":"crossref","DOI":"10.1093\/acprof:oso\/9780199682737.001.0001","volume-title":"The predictive mind","author":"Hohwy","year":"2013"},{"issue":"4","key":"2024091020292235500_B22","doi-asserted-by":"crossref","first-page":"695","DOI":"10.3758\/BF03206916","article-title":"Evidence for the duplex theory of tactile texture perception","volume":"62","author":"Hollins","year":"2000","journal-title":"Perception & Psychophysics"},{"issue":"44","key":"2024091020292235500_B23","doi-asserted-by":"publisher","first-page":"539","DOI":"10.1093\/mind\/os-XI.44.539","article-title":"The perception of space by disparate senses","volume":"os-XI","author":"Jastrow","year":"1886","journal-title":"Mind"},{"key":"2024091020292235500_B24","doi-asserted-by":"publisher","first-page":"150","DOI":"10.1007\/BF00228884","article-title":"A perceptual analysis of stiffness","volume":"79","author":"Jones","year":"1990","journal-title":"Experimental Brain Research"},{"key":"2024091020292235500_B25","doi-asserted-by":"crossref","first-page":"517","DOI":"10.3758\/APP.72.2.517","article-title":"Haptic perception of volume and surface area of 3-D objects","volume":"72","author":"Kahrimanovic","year":"2010","journal-title":"Attention, Perception, & Psychophysics"},{"issue":"4","key":"2024091020292235500_B26","doi-asserted-by":"publisher","first-page":"357","DOI":"10.1002\/wcs.1238","article-title":"Haptic perception","volume":"4","author":"Kappers","year":"2013","journal-title":"WIREs Cognitive Science"},{"issue":"4","key":"2024091020292235500_B27","doi-asserted-by":"publisher","first-page":"726","DOI":"10.1037\/0096-1523.19.4.726","article-title":"Haptic exploration in the presence of vision","volume":"19","author":"Klatzky","year":"1993","journal-title":"Journal of Experimental Psychology: Human Perception and Performance"},{"issue":"9","key":"2024091020292235500_B28","doi-asserted-by":"publisher","first-page":"2081","DOI":"10.1109\/JPROC.2013.2248691","article-title":"Haptic perception of material properties and implications for applications","volume":"101","author":"Klatzky","year":"2013","journal-title":"Proceedings of the IEEE"},{"issue":"4","key":"2024091020292235500_B29","doi-asserted-by":"publisher","first-page":"557","DOI":"10.1086\/500486","article-title":"Interaction of senses: The effect of vision versus touch on the elongation bias","volume":"32","author":"Krishna","year":"2006","journal-title":"Journal of Consumer Research"},{"issue":"3","key":"2024091020292235500_B30","doi-asserted-by":"publisher","first-page":"342","DOI":"10.1016\/0010-0285(87)90008-9","article-title":"Hand movements: A window into haptic object recognition","volume":"19","author":"Lederman","year":"1987","journal-title":"Cognitive Psychology"},{"key":"2024091020292235500_B31","doi-asserted-by":"crossref","first-page":"1439","DOI":"10.3758\/APP.71.7.1439","article-title":"Haptic perception: A tutorial","volume":"71","author":"Lederman","year":"2009","journal-title":"Attention, Perception, & Psychophysics"},{"key":"2024091020292235500_B32","volume-title":"Virtual reality: Scientific and technological challenges","author":"National Research Council","year":"1995"},{"issue":"1","key":"2024091020292235500_B33","doi-asserted-by":"publisher","first-page":"152","DOI":"10.1109\/48.64895","article-title":"Stable adaptive teleoperation","volume":"16","author":"Niemeyer","year":"1991","journal-title":"IEEE Journal of Oceanic Engineering"},{"issue":"9","key":"2024091020292235500_B34","doi-asserted-by":"publisher","first-page":"1347","DOI":"10.1068\/p6367","article-title":"Aging and the discrimination of object weight","volume":"38","author":"Norman","year":"2009","journal-title":"Perception"},{"issue":"10","key":"2024091020292235500_B35","doi-asserted-by":"publisher","DOI":"10.5772\/57026","article-title":"A taxonomy for heavy-duty telemanipulation tasks using elemental actions","volume":"10","author":"Owen-Hill","year":"2013","journal-title":"International Journal of Advanced Robotic Systems"},{"key":"2024091020292235500_B36","doi-asserted-by":"publisher","first-page":"573","DOI":"10.1068\/p270573","article-title":"Anisotropy in haptic curvature and shape perception","volume":"27","author":"Pont","year":"1998","journal-title":"Perception"},{"issue":"4","key":"2024091020292235500_B37","doi-asserted-by":"publisher","first-page":"212","DOI":"10.1109\/TOH.2009.34","article-title":"Fingerpad skin stretch increases the perception of virtual friction","volume":"2","author":"Provancher","year":"2009","journal-title":"IEEE Transactions on Haptics"},{"key":"2024091020292235500_B38","doi-asserted-by":"publisher","first-page":"594","DOI":"10.1126\/science.143.3606.594","article-title":"Vision and touch: An experimentally created conflict between the two senses","volume":"163","author":"Rock","year":"1964","journal-title":"Science"},{"key":"2024091020292235500_B39","doi-asserted-by":"publisher","first-page":"25","DOI":"10.1016\/j.brainres.2009.02.038","article-title":"A kinematic cue for active haptic shape perception","volume":"1267","author":"Sanders","year":"2009","journal-title":"Brain Research"},{"key":"2024091020292235500_B40","doi-asserted-by":"publisher","DOI":"10.3389\/frobt.2021.707149","article-title":"Task-level authoring for remote robot teleoperation","volume":"8","author":"Senft","year":"2021","journal-title":"Frontiers in Robotics and AI"},{"issue":"10","key":"2024091020292235500_B41","doi-asserted-by":"publisher","first-page":"2013","DOI":"10.1587\/transinf.2018EDP7358","article-title":"Analysis of relevant quality metrics and physical parameters in softness perception and assessment system","volume":"E102.D","author":"Shao","year":"2019","journal-title":"IEICE Transactions on Information and Systems"},{"issue":"1","key":"2024091020292235500_B42","doi-asserted-by":"publisher","DOI":"10.1038\/srep02617","article-title":"Feeling small: Exploring the tactile perception limits","volume":"3","author":"Skedung","year":"2013","journal-title":"Scientific Reports"},{"issue":"5","key":"2024091020292235500_B43","doi-asserted-by":"publisher","first-page":"1957","DOI":"10.1152\/jn.1996.75.5.1957","article-title":"Subjective scaling of smooth surface friction","volume":"75","author":"Smith","year":"1996","journal-title":"Journal of Neurophysiology"},{"issue":"1","key":"2024091020292235500_B44","doi-asserted-by":"publisher","first-page":"88","DOI":"10.1152\/jn.1995.73.1.88","article-title":"Tactual discrimination of softness","volume":"73","author":"Srinivasan","year":"1995","journal-title":"Journal of Neurophysiology"},{"key":"2024091020292235500_B45","doi-asserted-by":"crossref","first-page":"495","DOI":"10.3758\/BF03213075","article-title":"Manual discrimination of compliance using active pinch grasp: The roles of force and work cues","volume":"57","author":"Tan","year":"1995","journal-title":"Perception & Psychophysics"},{"key":"2024091020292235500_B46","doi-asserted-by":"publisher","DOI":"10.3389\/frobt","article-title":"Toward enhanced teleoperation through embodiment","volume":"7","author":"Toet","year":"2020","journal-title":"Frontiers in Robotics and AI"},{"issue":"5","key":"2024091020292235500_B47","doi-asserted-by":"publisher","DOI":"10.1145\/3186267","article-title":"A quantitative perceptual model for tactile roughness","volume":"37","author":"Tymms","year":"2018","journal-title":"ACM Transactions on Graphics"},{"issue":"3","key":"2024091020292235500_B48","doi-asserted-by":"publisher","first-page":"409","DOI":"10.1109\/TOH.2016.2567395","article-title":"The effect of global and local damping on the perception of hardness","volume":"9","author":"van Beek","year":"2016","journal-title":"IEEE Transactions on Haptics"},{"issue":"19","key":"2024091020292235500_B49","doi-asserted-by":"publisher","first-page":"7751","DOI":"10.1523\/JNEUROSCI.21-19-07751.2001","article-title":"Tactile discrimination of edge shape: Limits on spatial resolution imposed by parameters of the peripheral neural population","volume":"21","author":"Wheat","year":"2001","journal-title":"The Journal of Neuroscience: The Official Journal of the Society for Neuroscience"},{"key":"2024091020292235500_B50","volume-title":"Surfaces and their measurement","author":"Whitehouse","year":"2004"},{"issue":"2","key":"2024091020292235500_B51","doi-asserted-by":"publisher","first-page":"94","DOI":"10.1109\/TOH.2009.1","article-title":"Local surface orientation dominates haptic curvature discrimination","volume":"2","author":"Wijntjes","year":"2009","journal-title":"IEEE Transactions on Haptics"},{"key":"2024091020292235500_B52","doi-asserted-by":"publisher","first-page":"425","DOI":"10.1109\/ACCESS.2016.2517926","article-title":"Model-mediated teleoperation: Toward stable and transparent teleoperation systems","volume":"4","author":"Xu","year":"2016","journal-title":"IEEE Access"},{"key":"2024091020292235500_B53","first-page":"1","article-title":"Towards real-time modeling and haptic rendering of deformable objects for point cloud-based model-mediated teleoperation","author":"Xu","year":"2014","journal-title":"2014 IEEE International Conference on Multimedia and Expo Workshops"}],"container-title":["PRESENCE: Virtual and Augmented Reality"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/direct.mit.edu\/pvar\/article-pdf\/doi\/10.1162\/pres_a_00434\/2469295\/pres_a_00434.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"syndication"},{"URL":"https:\/\/direct.mit.edu\/pvar\/article-pdf\/doi\/10.1162\/pres_a_00434\/2469295\/pres_a_00434.pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,9,10]],"date-time":"2024-09-10T20:29:58Z","timestamp":1726000198000},"score":1,"resource":{"primary":{"URL":"https:\/\/direct.mit.edu\/pvar\/article\/doi\/10.1162\/pres_a_00434\/123747\/Model-Mediated-Teleoperation-An-Operator-Centric"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024]]},"references-count":53,"URL":"https:\/\/doi.org\/10.1162\/pres_a_00434","relation":{},"ISSN":["1531-3263"],"issn-type":[{"value":"1531-3263","type":"electronic"}],"subject":[],"published-other":{"date-parts":[[2024]]},"published":{"date-parts":[[2024]]}}}