The DOI matches its Crossref record; 28 of the 29 references it cites were found in a registry or an index.
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]
Citations
Cites
Bilateral control of teleoperators with time delay
Anderson, R. J., & Spong, M. W. (1989) · IEEE Transactions on Automatic Control · doi:10.1109/9.24201 · Cited by 2,135
Force and Touch Feedback for Virtual Reality
Burdea, G. (1996) · Cited by 1,017
Supervisory control of remote manipulation
Ferrell, W. R., & Sheridan, T. B. (1967) · IEEE Spectrum · doi:10.1109/mspec.1967.5217126 · Cited by 348
Using deadbands to reduce communication in networked control systems
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Park, K.-S., & Kenyon, R. V. (2003) · IEEE Virtual Reality (VR) · doi:10.1109/vr.1999.756940 · Cited by 227
Haptic information in Internet-based teleoperation
Elhajj, I. H., Xi, N., Fung, W.-K., Liu, Y. H., Li, W. J., Kaga, T., & Fukuda, T. (2001) · IEEE/ASME Transactions on Mechatronics · doi:10.1109/3516.951367 · Cited by 138
Disposal of explosive ordnances by use of a bimanual haptic telepresence system
Kron, A., Schmidt, G., Petzold, B., Zah, M. I., Hinterseer, P., & Steinbach, E. G. (2004) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/robot.2004.1308112 · Cited by 122
Self-citationTouch in Virtual Environments : Haptics and the Design of Interactive Systems
McLaughlin, M. L., Sukhatme, G. S., & Hespanha, J. (2001) · Medical Entomology and Zoology · Cited by 92
A comparison of different haptic compression techniques
Shahabi, C., Ortega, A., & Kolahdouzan, M. R. (2003) · IEEE International Conference on Multimedia and Expo (ICME) · doi:10.1109/icme.2002.1035867 · Cited by 90
Hinterseer, P., Steinbach, E., Hirche, S., & Buss, M. (2006) · Proceedings. (ICASSP '05). IEEE International Conference on Acoustics, Speech, and Signal Processing, 2005. · doi:10.1109/icassp.2005.1415600 · Cited by 75
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1 of the 29 references couldn’t be matched to a known paper.
Research works printed but not linked: 4
- ou, 2002, network considerations for a dynamic shared haptic environment, Proc Nat Conf Undergrad Res
- jones, 1992, human operator perception of mechanical variables and their effects on tracking performance, Adv Robot, 42, 49
- greefkes, 1970, code modulation with digitally controlled companding for speech transmission, Philips Tech Rev, 31, 335
- hespanha, 2002, Touch in Virtual Environments Haptics and the Design of Interactive Systems, 158
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Items 201–211 of 211
(2021) · Elsevier eBooks · doi:10.1016/b978-0-12-821343-8.00030-7
Wu, H., Xu, X. W., Jin, Z. G., & Meng, F. (2024) · Learning and analytics in intelligent systems · doi:10.1007/978-3-031-56521-2_3
Data-Driven Haptic Modeling of Inhomogeneous Viscoelastic Deformable Objects
Kumar, G., Prakash, S., Cha, H., Bhardwaj, A., & Choi, S. (2024) · Lecture notes in computer science · doi:10.1007/978-3-031-70058-3_33
The Influence of Mass and Friction in Teleoperated Tasks
van der Walt, C., Falcone, S., van Erp, J. B. F., Stramigioli, S., & Dresscher, D. (2025) · IEEE Transactions on Haptics · doi:10.1109/toh.2025.3570795
Perceptual Quality-Driven Compression and Transmission of Three-Dimensional Vibrotactile Signals
Duan, L., Yan, C., Long, H., Hua, W., & Shi, X. (2025) · International Conference on Software Engineering and Computer Science (CSECS) · doi:10.1109/csecs64665.2025.11009453
Liu, S., Antonsen, M., Xu, X. W., Jin, Z. J., & Steinbach, E. G. (2025) · IEEE World Haptics Conference (WHC) · doi:10.1109/whc64065.2025.11123274
Self-citationA Study of Deadzone Structure for Multi-Dimensional Haptic Force Perception
Meghwanshi, R. P., Bhardwaj, A., & Kumar, H. (2025) · ACM Transactions on Applied Perception · doi:10.1145/3779298
Perceptual Quality of Online RIMAs
Wah, B. W.-S., & Xu, J. (2026) · Springer eBooks · doi:10.1007/978-3-032-07941-1_2
HASC: Haptic-Aware Surgical Compression for Bandwidth-Constrained Teleoperation
N, D. M. (2026) · Zenodo (CERN European Organization for Nuclear Research) · doi:10.5281/zenodo.20752153
RTEC: A Real-Time Estimation-Based Coding Algorithm for Haptic Signals
Wang, Y., Fang, Y., & Wei, H. (2026) · International Symposium on Machine Learning and Media Computing (MLMC) · doi:10.1109/mlmc69743.2026.11686826
A Dual-Channel Framework for Blind Perceptual Quality Assessment in Bilateral Teleoperation
Wang, Z., Xu, X., Jin, Z., Yang, D., & Steinbach, E. G. (2026) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra57385.2026.11697224
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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