Title :
Haptic data reduction for time-delayed teleoperation using the time domain passivity approach
Author :
Xiao Xu ; Cizmeci, Burak ; Schuwerk, Clemens ; Steinbach, Eckehard
Author_Institution :
Media Technol., Tech. Univ. Munchen, Munich, Germany
Abstract :
We propose a perceptual haptic data reduction approach for teleoperation systems which use the time domain passivity approach (TDPA) as their control architecture for dealing with time-varying communication delay. Our goal is to reduce the packet rate over the communication network while preserving system stability in the presence of time-varying and unknown delays. Compared to the existing wave variable-based (WV-based) haptic data reduction approaches, our proposed scheme leads to smaller distortion in the force signals and robustly deals with time-varying delays. Experiments show that our proposed approach can reduce the average packet rate by up to 80%, without introducing significant distortion. In addition, the proposed approach outperforms the existing WV-based approaches in both packet rate reduction and subjective preference for the tested communication delays.
Keywords :
delay systems; passivation; stability; telerobotics; time-domain analysis; time-varying systems; TDPA; WV-based haptic data reduction approach; communication network; control architecture; force signal; packet rate reduction; perceptual haptic data reduction approach; preserving system stability; subjective preference; teleoperation system; time domain passivity approach; time-delayed teleoperation; time-varying communication delay; time-varying delay; unknown delay; wave variable-based haptic data reduction approach; Computer architecture; Delays; Distortion; Force; Haptic interfaces; Time-domain analysis; Time-varying systems;
Conference_Titel :
World Haptics Conference (WHC), 2015 IEEE
Conference_Location :
Evanston, IL
DOI :
10.1109/WHC.2015.7177763