Exploring Performance and User Experience in Haptic Teleoperation Systems: A Study on QoS/QoE Dynamics on Immersive Communications

Haptic teleoperation systems mark a critical breakthrough in remote manipulation technologies, delivering immersive user experiences through precise control and tactile feedback. This paper aims to explore the interplay between Quality of Service (QoS) network metrics, such as latency, jitter, and packet loss, and Quality of Experience (QoE) features, including immersion, control, and engagement. This investigation is conducted through a combination of objective measurements and subjective evaluations over a private Fifth Generation Standalone (5G SA) network. In addition, it aims to realize the extent to which transport-layer protocols operating over IP, such as TCP and UDP, as well as environmental factors like indoor and outdoor settings, influence system performance.Results confirm the well-established trade-off between reliability and latency in transport protocols, with TCP offering higher reliability in controlled indoor environments, and UDP exhibiting better responsiveness in dynamic outdoor scenarios. While these findings align with existing knowledge, their empirical validation in the context of immersive haptic applications over a private 5G SA network reinforces their relevance. In addition, QoE metrics were found to be linked to QoS indicators, highlighting the importance of balancing speed, stability, and reliability. These findings provide valuable insights towards designing adaptive teleoperation systems capable of dynamically optimizing performance under diverse conditions.