Name
Title | ||
|---|---|---|
Haptic Data Reduction For Time-Delayed Teleoperation Using The Time Domain Passivity Approach |
Abstract | ||
|---|---|---|
We propose a perceptual haptic data reduction approach for teleoperation systems which use the time domain passivity approach (TDPA) as their control architecture for dealing with time-varying communication delay. Our goal is to reduce the packet rate over the communication network while preserving system stability in the presence of time-varying and unknown delays. Compared to the existing wave variable-based (WV-based) haptic data reduction approaches, our proposed scheme leads to smaller distortion in the force signals and robustly deals with time-varying delays. Experiments show that our proposed approach can reduce the average packet rate by up to 80%, without introducing significant distortion. In addition, the proposed approach outperforms the existing WV-based approaches in both packet rate reduction and subjective preference for the tested communication delays. |
Year | Venue | Field |
|---|---|---|
2015 | 2015 IEEE WORLD HAPTICS CONFERENCE (WHC) | Passivity,Teleoperation,Time domain,Telecommunications network,Control theory,Simulation,Computer science,Network packet,Control engineering,Distortion,Haptic technology,Data reduction |
DocType | Citations | PageRank |
Conference | 4 | 0.40 |
References | Authors | |
13 | 4 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Xiao Xu | 1 | 82 | 10.00 |
| Burak Cizmeci | 2 | 56 | 5.25 |
| Clemens Schuwerk | 3 | 77 | 7.61 |
| Eckehard G. Steinbach | 4 | 2221 | 299.71 |