Abstract
This study evaluates the usefulness of haptic guidance and investigates the effect of inaccuracy in haptic guidance on the task performance. Both position inaccuracy and orientation inaccuracy were considered. The peg-in-hole task was conducted as a benchmark test for evaluation, and a psychophysical study was performed and analyzed on eight inaccuracy combinations. In conclusion, the haptic guidance showed outstanding performance in terms of task completion time, position tracking performance, contact force, and total force, but the haptic guidance with severe orientation inaccuracy caused serious complications.
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