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Perception-Based Data Reduction and Transmission of Haptic Data in Telepresence and Teleaction Systems
Abstract
We present a novel approach for the transmission of haptic data in telepresence and teleaction systems. The goal of this work is to reduce the packet rate between an operator and a teleoperator without impairing the immersiveness of the system. Our approach exploits the properties of human haptic perception and is, more specifically, based on the concept of just noticeable differences. In our scheme, updates of the haptic amplitude values are signaled across the network only if the change of a haptic stimulus is detectable by the human operator. We investigate haptic data communication for a 1 degree-of-freedom (DoF) and a 3 DoF teleaction system. Our experimental results show that the presented approach is able to reduce the packet rate between the operator and teleoperator by up to 90% of the original rate without affecting the performance of the system.
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“As for haptic feedback, Kaber et al. [21], [22] show that latency should be less than 25 ms for accurately completing haptic operations.”
From The IEEE 1918.1 “Tactile Internet” Standards Working Group and its Standards (2019) · cites this paper as [21]
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Self-citation
Metadata
- Authors
- Hinterseer, P., Hirche, S., Chaudhuri, S., Steinbach, E., & Buss, M.
- Affiliations
- Technical University of Munich (DE)
- Tokyo Institute of Technology (JP)
- Indian Institute of Technology Bombay (IN)
- Venue
- IEEE Transactions on Signal Processing
- Published
- 2008-02
- Volume
- 56
- Issue
- 2
- Pages
- 588-597
- ISSN
- 1053-587X (ISSN-L)
- OpenAlex
- W2160966687
- Cited by
- 213
- References
- 29
- Citations by year
- 2026: 4 · 2025: 10 · 2024: 8 · 2023: 7 · 2022: 12 · 2021: 12 · 2020: 12 · 2019: 13 · 2018: 11 · 2017: 15 · 2016: 9 · 2015: 8 · 2014: 19 · 2013: 12 · 2012: 19
- FWCI
- 29.79
- Type
- journal article
- Language
- en
- Open access
- closed
- Locations
- IEEE Transactions on Signal Processing (publishedVersion)
- DSpace (IIT Bombay) (submittedVersion)
- Topics
- Physical Sciences › Engineering › Mechanical Engineering › Teleoperation and Haptic Systems
- Life Sciences › Neuroscience › Cognitive Neuroscience › Tactile and Sensory Interactions
- Health Sciences › Medicine › Public Health, Environmental and Occupational Health › Telemedicine and Telehealth Implementation
- Keywords
- telepresence, just noticeable difference, haptic perception, teleoperation
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