Considering transmission period via network for tele-haptics

In haptic communication via the network, transmission period is not able to be designed uniquely since it restricted by the line bandwidth, transmission protocol, hardware constraints and so on. To address this problem, downsampling is often employed. Additionally, to enhance the performance of downsampled system, multirate control is proposed. However, the quantitative analysis on downsampling and multirate control are not treated. Therefore, this paper treats downsampling and multirate control system, and performs quantitative analysis by using hybrid parameter. In order to reveal the most effective combination of holder and single or multirate, holders (ZOH, DFOH and PFOH) are considered explicitly, and it is formulated to Laplace domain. The effectiveness of each combination is verified through experiments.