Model Based Data Compression For 3d Virtual Haptic Teleinteraction

This paper presents a model based prediction of haptic data signals for data compression purposes in virtual haptic teleinteraction environments. The proposed data reduction itself is based on psychophysical properties of human perception. This scheme can be used for Internet-based multimedia applications like hapticssupported games or virtual haptic explorations. Using our approach haptic data packet rate reduction of up to 95% without impairing immersiveness is achieved

A novel, psychophysically motivated transmission approach for haptic data streams in telepresence and teleaction systems

One of the key challenges in telepresence and teleaction systems is the fact that a global control loop is closed over a communication network. The transmission delay of haptic information is extremely critical. Therefore, new data samples from the haptic sensors are typically immediately forwarded to the receiver which leads to a large number of packets being generated when using the Internet as the communication infrastructure. We present a novel approach to reduce the amount of packets and therefore data communicated in a telepresence and teleaction system. Our method uses a passive deadband control which only delivers data packets over the network when the sampled sensor data changes more than a given threshold value. The threshold value is determined by psychophysical experiments. This approach leads to a considerable reduction (up to 90%) of packet rate and data rate without sacrificing fidelity and immersiveness of the system. 1

Towards Deadband Control In Networked Teleoperation Systems

One of the key challenges in current bilateral teleoperation systems is the high data packet rate necessary for the transmission of the sampled command and sensor data. We present a novel, psychophysically motivated approach to reduce the packet rate based on a deadband transmission strategy. Data packets are only sent if the sampled signal changes more than a given threshold value

Network Traffic Reduction In Haptic Telepresence Systems by deadband Control

Current haptic (force feedback) telepresence systems operated over a communication network as, e.g. the Internet, require high packet rates for the transmission of the command and sensor signals. A novel approach to reduce the network tra#c by means of deadband control is proposed. Data packets are only sent if the sampled signal changes more than a given threshold value. Passivity based reconstruction methods are introduced to reconstruct the untransmitted values at the receiver guaranteeing stability of the overall system. Experiments show that a packet rate reduction of up to 87% is achieved without impairing transparency

Perception-Based Compression Of Haptic Data Streams Using Kalman Filters

In order to realize truly immersive and stable telepresence and teleaction over the Internet it is necessary to keep delay, data rate, and packet rate of haptic data streams as low as possible. In addition, the compression scheme for haptic data, which is necessary to achieve those goals, must be fast enough to work on a sample by sample basis to not add further delay. This paper presents an approach that reduces haptic data traffic in networked telepresence and teleaction systems to a small fraction of the original rate without impairing performance by using fast Kalman filters on the input signals combined with model based prediction of haptic signals. Our approach reduces the number of transmitted packets to 9.8% (velocity) and 6.2% (force) of the original rate without impairing immersiveness

PARSIMONIOUS DATA TRANSMISSION IN HAPTIC TELEPRESENCE SYSTEMS

Limited communication resources represent a major challenge in networked telepresence and teleaction systems. Video and audio compression schemes are well advanced employing models of human perception. In contrast to that haptic data reduction schemes are rather poorly treated in the known literature. This paper introduces a novel approach to reduce network traffic in haptic telepresence systems exploiting limits in human haptic perception. With the proposed deadband control approach data packets are transmitted only if the signal change exceeds a signal amplitude dependent perception threshold. Experimental user studies show that a network traffic reduction of up to 85 % can be achieved without impairing the perception of the remote environment. This study is performed under the assumption of a data transmission with zero communication delay. 1