There is a growing demand for teleoperated robots. This paper presents a novel method for reducing vibration noise generated by robot's own motion, which can disrupt the quality of tactile feedback for teleoperated robots. Our approach focuses on perceived intensity, the amount of how humans experience vibration, to create a noise filter that aligns with human perceptual characteristics. This system effectively subtracts ego-noise while preserving the essential tactile signals, ensuring more accurate and reliable haptic feedback for operators. This method offers a refined solution to the challenge of maintaining high-quality tactile feedback in teleoperated systems.

翻译：随着远程操作机器人的需求日益增长，本文提出了一种新颖的方法来减少机器人自身运动产生的振动噪声，这种噪声会干扰远程操作机器人的触觉反馈质量。我们的方法聚焦于感知强度——即人类体验振动的程度，以此构建符合人类感知特性的噪声滤波器。该系统在保留关键触觉信号的同时有效消除了本体噪声，从而为操作者提供更准确可靠的触觉反馈。该方法为解决远程操作系统中保持高质量触觉反馈的挑战提供了一种精细化解决方案。