Passive Haptic Data-Compression Methods With Perceptual Coding for Bilateral Presence Systems

Author

Kuschel, Martin ; Kremer, Philipp ; Buss, Martin

Author_Institution

Inst. of Autom. Control Eng., Tech. Univ. Munchen, Munich, Germany

Volume

39

Issue

6

fYear

2009

Firstpage

1142

Lastpage

1151

Abstract

In this paper, lossy compression methods for haptic (velocity and force) data as exchanged in telepresence or virtual reality systems are introduced. Based on the proposed interpolative and extrapolative compression strategies, arbitrary passive compression algorithms can be implemented. The derived algorithms do not affect the stability of the presence system. Two algorithms were implemented and experimentally evaluated. The results show that constant data rate savings of 89% still lead to a perceptually transparent presence system.

Keywords

data compression; encoding; extrapolation; interpolation; virtual reality; arbitrary passive compression algorithm; bilateral presence system; constant data rate saving; extrapolative compression strategy; force data; interpolative compression strategy; lossy compression method; passive haptic data compression method; perceptual coding; perceptual transparent presence system; velocity data; virtual reality system; Compression; haptic telepresence; robotics;

fLanguage

English

Journal_Title

Systems, Man and Cybernetics, Part A: Systems and Humans, IEEE Transactions on

Publisher

ieee

ISSN

1083-4427

Type

jour

DOI

10.1109/TSMCA.2009.2027219

Filename

5276873