Low bitrate source-filter model based compression of vibrotactile texture signals in haptic teleoperation

Authors:
Rahul Chaudhari;Burak Çizmeci;Katherine J. Kuchenbecker;Seungmoon Choi;Eckehard Steinbach
Affiliations:
Technische Universität München, Munich, Germany;Technische Universität München, Munich, Germany;University of Pennsylvania, Philadelphia, USA;POSTECH, Pohang, South Korea;Technische Universität München, Munich, Germany
Venue:
Proceedings of the 20th ACM international conference on Multimedia
Year:
2012

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Abstract

Vibrotactile signals convey the touch-based characteristics of object surfaces felt through a tool. They particularly enhance the quality of human-machine interactions by providing realistic haptic perception of textures. In this paper, inspired by the similarities observed between vibrotactile texture signals and speech signals, we present a novel vibrotactile texture codec for bilateral teleoperation, based on well-known speech coding techniques. The proposed low bitrate, high quality codec preserves not only the spectral signature vital to the general feel of the texture, but also important temporal features of the texture signal. We report a compression ratio of 8:1 (12.5 %) with a constant output bitrate of 4 kbps, and we validate the perceptual transparency of the codec via rigorous subjective tests and analyses.