Effect of driving delay with an acoustical tele-presence robot, TeleHead

TeleHead is an acoustical tele-presence robot that has a user-like dummy head whose movement synchronizes with the listener’s head movement in real time. Here, we summarize the concept of TeleHead and suggest a learning effect for driving delay. The results show that even if there is 1-s delay in TeleHead’s movement, synchronization with the listener’s head movement is still effective. In addition, a user can adapt to even over 1-s delay for transmission without any feedback. This suggests a strong adaptability for delay, which can not be avoided in using tele-operated robots such as TeleHead.