Haptic data reduction in multi-DoF teleoperation systems

In this paper a haptic data reduction method for multi-DoF teleoperation systems is presented. A general framework based on the deadband approach is given; it gives the flexibility, by knowledge of psychophysical properties, to form hyper-zones where information can be considered imperceivable by the human and thus does not need to be transmitted. A proper data reconstruction strategy is proposed for the receiver side to guarantee stability of global control loop despite the loss of information. Simulation and experiments on a real 7-DoF telerobotic system validate the approach and indicate high data reduction rates.