Perception-Based Data Reduction and Transmission of Haptic Data in Telepresence and Teleaction Systems

Hinterseer, P.; Hirche, Sandra; Chaudhuri, Subhasis; Steinbach, Eckehard; Buss, Martin

doi:10.1109/tsp.2007.906746

Cited by 193 publications

(155 citation statements)

References 24 publications

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“…2 (b), the data-processing blocks are connected via media data queues. The haptic (force) encoder block utilizes the PD force data reduction scheme in [6] with a Zero-Order-Hold strategy. The only tuning parameter for this encoder is the constant Weber factor k, which determines the transmit/nontransmit states on the force signal.…”

Section: Visual-haptic Multiplexingmentioning

confidence: 99%

“…The only tuning parameter for this encoder is the constant Weber factor k, which determines the transmit/nontransmit states on the force signal. k = 10% has been found to be the perceptual threshold of force [6]. When the current force signal value exceeds the perceptual threshold defined by the previously sent sample, the encoder marks the current force sample for transmission and enqueues it in the force sample buffer which holds N force samples (N = 5 in Fig.…”

Section: Visual-haptic Multiplexingmentioning

confidence: 99%

“…Contrary to their approach, our proposed scheme always assigns the force signal the highest priority to achieve the desired constant end-to-end delay. In order to reduce the packet rate for the force transmission (from the TOP to the OP), the haptic data re- duction scheme in [6] is used. This perceptual deadband (PD) based haptic data reduction scheme generates irregular sample transmission events as only perceivable signal changes are transmitted.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

A Visual-Haptic Multiplexing Scheme for Teleoperation Over Constant-Bitrate Communication Links

Çizmeci

Chaudhari

et al. 2014

Haptics: Neuroscience, Devices, Modeling, and Applications

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Abstract. We propose a novel multiplexing scheme for teleoperation over constant bitrate (CBR) communication links. The proposed approach uniformly divides the channel into 1ms resource buckets and controls the size of the transmitted video packets as a function of the irregular haptic transmission events generated by a perceptual haptic data reduction approach. The performance of the proposed multiplexing scheme is measured objectively in terms of delay-jitter and packet rates. The results show that acceptable multiplexing delays on both the visual and haptic streams are achieved. Our evaluation shows that the proposed approach can provide a guaranteed constant delay for the time-critical force signal, while introducing acceptable video delay.

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Section: Visual-haptic Multiplexingmentioning

confidence: 99%

Section: Visual-haptic Multiplexingmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

A Visual-Haptic Multiplexing Scheme for Teleoperation Over Constant-Bitrate Communication Links

Çizmeci

Chaudhari

et al. 2014

Haptics: Neuroscience, Devices, Modeling, and Applications

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“…Update controller on the slave side: For a typical teleoperation system, the haptic signals (packets) are transmitted back to the master side at a rate of 1kHz. This packet rate can be significantly reduced by applying the perceptual deadband coding approach described in [28][29][30][31][32][33]. For our pcbMMT system, a similar concept can be employed to reduce the packet rate required for transmitting the estimated physical properties of the object.…”

Section: F2 Updating the Physical Properties Of The Objectsmentioning

confidence: 99%

Point-cloud-based model-mediated teleoperation

Cizmeci

Steinbach

2013

2013 IEEE International Symposium on Haptic Audio Visual Environments and Games (HAVE)

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In this paper, we extend the concept of model-mediated teleoperation (MMT) for complex environments and six degrees of freedom interaction using point cloud surface models. In our system, a time-of-flight camera is used to capture a high resolution point cloud model of the object surface. The point cloud model and the physical properties of the object (stiffness and surface friction coefficient) are estimated at the slave side in real-time and transmitted to the master side using the modeling and updating algorithm proposed in this work. The proposed algorithm adaptively controls the updating of the point cloud model and the object properties according to the slave movements and by exploiting known limitations of human haptic perception. As a result, perceptually irrelevant transmissions are avoided, and thus the packet rate in the communication channel is substantially reduced. In addition, a simple point cloud-based haptic rendering algorithm is adopted to generate the force feedback signals directly from the point cloud model without first converting it into a 3D mesh. In the experimental evaluation, the system stability and transparency are verified in the presence of a round-trip communication delay of up to 1000ms. Furthermore, by exploiting the limits of human haptic perception the presented system allows for a significant haptic data reduction of about 90% for teleoperation systems with time delay. Index Termsmodel-mediated teleoperation, model-update, packet rate reduction, point cloud-based haptic rendering.

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“…All these applications struggle with strong demands on the communication network due to haptic transparency and stability reasons, like standard telepresence and teleaction (TPTA) systems do [3]. The high temporal resolution of the human haptic perception system requires a high stimulus refresh rate of 1kHz.…”

Section: Introductionmentioning

confidence: 99%

Perceptually Robust Traffic Control in Distributed Haptic Virtual Environments

Schuwerk

Chaudhari

Steinbach

2012

Haptics: Perception, Devices, Mobility, and Communication

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Abstract. In this paper we present a traffic control scheme for server to client communication in distributed haptic virtual environments (VE). We adopt a client-server architecture where the server manages the state consistency of the distributed VE, while haptic feedback is computed locally at each client. The update rate of network traffic from the server to the client is dynamically adapted by exploiting characteristics and limitations of human haptic perception. With this, an excellent tradeoff between network communication efficiency and perceptually robust rendering of haptic feedback is achieved. Subjective tests with two users collaboratively manipulating a common object show a packet rate reduction of up to 99% from the server to the clients without deteriorating haptic feedback quality.

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Perception-Based Data Reduction and Transmission of Haptic Data in Telepresence and Teleaction Systems

Cited by 193 publications

References 24 publications

A Visual-Haptic Multiplexing Scheme for Teleoperation Over Constant-Bitrate Communication Links

A Visual-Haptic Multiplexing Scheme for Teleoperation Over Constant-Bitrate Communication Links

Point-cloud-based model-mediated teleoperation

Perceptually Robust Traffic Control in Distributed Haptic Virtual Environments

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