Force and touch feedback for virtual reality
Force and touch feedback for virtual reality
Bilateral Control with Time-Varying Delay including Communication Blackout
HAPTICS '02 Proceedings of the 10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
Predictive Coding for Efficient Host-Device Communication in a Pneumatic Force-Feedback Display
WHC '05 Proceedings of the First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
Presence: Teleoperators and Virtual Environments
Presence: Teleoperators and Virtual Environments
Passive event-based extrapolation for lossy haptic data compression in bilateral presence systems
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Network traffic reduction in six degree-of-freedom haptic telementoring systems
SMC'09 Proceedings of the 2009 IEEE international conference on Systems, Man and Cybernetics
The influence of different haptic environments on time delay discrimination in force feedback
EuroHaptics'10 Proceedings of the 2010 international conference on Haptics: generating and perceiving tangible sensations, Part I
A passivity approach for model-based compositional design of networked control systems
ACM Transactions on Embedded Computing Systems (TECS)
Prediction from expert demonstrations for safe tele-surgery
International Journal of Automation and Computing
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Two of the major challenges in networked haptic telepresence and teleaction systems are the time delay associated with the data transmission over the network and the limited communication resources. Sophisticated control methods are available for the stabilization in the presence of time delay. The reduction of haptic network traffic, however, is only poorly treated in the known literature. Data reduction approaches for time delayed haptic telepresence are not available at all. This article presents a novel approach to reduce the network traffic in haptic telepresence systems with constant (unknown) time delay. With the proposed deadband control approach data are sent only if the signal to transmit changes more than a given threshold value. In order to guarantee stability with time delay and data reduction a well-known time delay approach, the scattering transformation, is extended. Experimental user studies show that an average network traffic reduction up to 96% is achieved without significantly impairing the perception of the remote environment compared to the standard approach with time delay.