A Novel Signal Reconstruction Algorithm for Perception Based Data Reduction in Haptic Signal Communication

The performance and immersiveness of telepresence and teleaction systems critically depend on the quality of the communication between the operator and the teleoperator. High packet rate for low delay data exchange in internet-based tele-operation is one of the major challenges in this context. A psychophysical^ motivated data reduction scheme, earlier presented by the authors, solves this problem by the use of signal amplitude dependent deadband quantization. This scheme successfully limits the amount of transmitted packets, but as soon as the size of the deadband exceeds a certain limit, noticeable and disturbing artifacts are introduced into the haptic signals. In this paper, we present a novel signal reconstruction technique, based on a signal adaptive synthesis filter. It removes discontinuities in the displayed signals and enables the use of strong deadband based data reduction without perceptible disturbance in the telepresence system.