research-article

A Novel Energy Compensation Scheme for Quality Enhancement in Time-Delayed Teleoperation With Multi-DoF Haptic Data Reduction and Communication

Authors:

Harsimran Singh,

Michael Panzirsch,

Eckehard SteinbachAuthors Info & Claims

IEEE Transactions on Haptics, Volume 14, Issue 4

Pages 936 - 944

https://doi.org/10.1109/TOH.2021.3103379

Published: 01 October 2021 Publication History

Abstract

Efficient and low-delay exchange of hapticinformation plays a key role for the design of high-fidelity teleoperation systems that operate over real-world communication networks. In the presence of communication unreliabilities such as delay and packet loss, a combination of stability-ensuring control schemes and haptic data reduction approaches is essential to address the challenges from both the control and communication perspective. In this paper, we extend our previous one degree-of-freedom (DoF) solution to 3DoF that combines the time-domain passivity approach (TDPA) and the perceptual deadband-based (DB) haptic data reduction approach. We also extend the 1DoF energy compensation (EC) scheme to 3DoF for mitigating the control artifacts introduced by the inter-play of the TDPA and DB approaches. The 3DoF solution is analyzed in detail and verified through a real-world teleoperation setup. The performance of the proposed method and the existing solutions is compared though objective and subjective assessments. Experimental results show that by jointly considering the evaluated objective/subjective quality and the required packet rate, the proposed 3DoF solution with the EC scheme improves system performance significantly compared to the state-of-the-art solutions.

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Cited By

Ruan LWong E(2023)A Transfer Learning Assisted Framework to Expedite and Self-Adapt Bandwidth Allocations in Low-Latency H2M ApplicationsIEEE Communications Magazine10.1109/MCOM.003.220065161:8(189-195)Online publication date: 1-Aug-2023
https://dl.acm.org/doi/10.1109/MCOM.003.2200651

Index Terms

A Novel Energy Compensation Scheme for Quality Enhancement in Time-Delayed Teleoperation With Multi-DoF Haptic Data Reduction and Communication
1. Mathematics of computing
  1. Continuous mathematics

Index terms have been assigned to the content through auto-classification.

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cover image IEEE Transactions on Haptics

IEEE Transactions on Haptics Volume 14, Issue 4

Oct.-Dec. 2021

246 pages

ISSN:1939-1412

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1939-1412 © 2021 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission. See https://www.ieee.org/publications/rights/index.html for more information.

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IEEE Computer Society Press

Washington, DC, United States

Publication History

Published: 01 October 2021

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Cited By

Ruan LWong E(2023)A Transfer Learning Assisted Framework to Expedite and Self-Adapt Bandwidth Allocations in Low-Latency H2M ApplicationsIEEE Communications Magazine10.1109/MCOM.003.220065161:8(189-195)Online publication date: 1-Aug-2023
https://dl.acm.org/doi/10.1109/MCOM.003.2200651

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