Data transmission with multiple-routes for wireless haptic communication system

Recently, the teleoperation robot which transmits tactile sensation has actively been researched following visual and audio information. For the realization of haptic transmission, a master and slave system is utilized and these systems have to be connected via network in actual applications. In communication via network, it is known that a communication delay, packet loss and jitter are undesirable effects on control system occur. Moreover, large burst loss may also occur in wireless mobile communication by changing access points for the expansion of the range of communication. In order to realize vivid haptic transmission through network, hard real-time property and transfer reliability are demanded. There are many conventional studies which focus on communication delay, on the other hand, studies about the reliability of data transfer on haptic communication are not conducted so much. Therefore, this study pays attention to the burst loss by hand over in wireless haptic communication. To tackle this problem, this paper proposes new haptic transmission method which uses multiple-routes. By using the method, the effect of the burst loss is decreased in communication with the single route. The viability of the proposal is shown by two kinds of experimental results of bilateral control. The one is stationary system, and the other one is mobile system. As for the experiment of the mobile system, this study uses the newly-developed mobile-hapto.