Auditory decorator of complex sounds for teleoperation systems

Communication delay in network is inevitable issue and it causes discomfort in manipulation of teleoperation systems. One of the solutions for this problem is decorator. Decorator is a technique to decrease the discomfort by modifying visual or auditory feedback based on the other information, which is transmitted with shorter delay, to its operator. In the former study, the artificial modification improves the usability of teleoperation. In this paper, we proposed an auditory decorator composed of complex sounds. Complex sounds have an ability to express multidimensional information. Therefore, with the complex sound, various information can be included in auditory information. We chose chord sounds and sign sounds as complex sounds and implemented the auditory decorator. From result of the user study to evaluate the proposed decorator, the proposed decorator is more effective to improve the usability of teleoperation system than the conventional one.