Transparency of haptic telepresence systems with constant time delay

Hirche, Sandra; Bauer, Adrian S.; Buss, Martin

doi:10.1109/cca.2005.1507146

Cited by 39 publications

(23 citation statements)

References 10 publications

(22 reference statements)

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“…The higher the time delay the more conservative the control has to be designed in order to guarantee stability. This on the other hand leads to a strong deterioration of immersiveness, and very likely to the inoperability of the TPTA system [7]- [12]. Thus, hard realtime constraints apply for the haptic data stream, and this is the fundamental difference to standard streaming multimedia such as video and audio.…”

Section: Introductionmentioning

confidence: 99%

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

Hinterseer¹,

Hirche

Chaudhuri

et al. 2008

IEEE Trans. Signal Process.

193

149

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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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Section: Introductionmentioning

confidence: 99%

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

Hinterseer¹,

Hirche

Chaudhuri

et al. 2008

IEEE Trans. Signal Process.

193

149

View full text Add to dashboard Cite

show abstract

“…In particular, the influence of delays on the perceived mechanical properties of remote object was largely overlooked. A step toward understanding the influence of delay on the perception of stiffness was taken recently by Hirche (Hirche, Bauer, and Buss, 2005), who evaluated the effect of delay on the transparency of tele-operated systems using wave variables. The work includes a perception study by subjects, which addresses only the presence of change in perception, but not the direction of change.…”

Section: Introductionmentioning

confidence: 99%

Perception of Delayed Stiffness

Pressman

Welty

Karniel

et al. 2007

The International Journal of Robotics Research

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Advanced technology has recently provided truly immersive virtual environments with teleoperated robotic devices. In order to control movements from a distance, the human sensorimotor system has to overcome the effects of delay. Currently, little is known about the mechanisms that underlie haptic estimation in delayed environments. The aim of this research is to explore the effect of a delay on perception of surfaces stiffness. We used a forced choice paradigm in which subjects were asked to identify the stiffer of two virtual spring-like surfaces based on manipulation without visual feedback. Virtual surfaces were obtained by generating an elastic force proportional to the penetration of the handle of a manipulandum inside a virtual boundary. The elastic force was either an instantaneous function of the displacement, delayed at 30 or 60 milliseconds after the displacement or led the displacement (by means of Kalman predictor) by 50 milliseconds. We assume that for estimating stiffness, the brain relates the experienced interaction forces

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“…Besides device display capacity, the perceptual capabilities of the human with respect to temporal resolution have specific limitations [17], [22], [23] that can be used in order to compress haptic media.…”

Section: Perceptual Haptic Filtersmentioning

confidence: 99%

“…Most of the approaches deal with aspects of haptic data transmission in the context of telepresence and teleaction systems [16], focusing mainly on stability and latency issues [17], [18], [19]. Differential and entropy coding has been successfully applied in [19], while other traditional approaches including, DPCM ADPCM, Huffman coding have been applied to haptic signals in [19] and [20] respectively.…”

Section: A Related Workmentioning

confidence: 99%

Haptic media from an information-theoretic perspective

Μουστάκας

2013

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

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Haptic rendering has been long considered as the process of estimating the force that stems from the interaction of a user and an object. It can be thus seen as a closed loop system, where the user's actions drive the "simulation" that feeds back to the user the respective forces. Even if this approach follows the principles of natural haptic interaction, it places severe limitations in processing haptic media and does not follow the paradigm of audiovisual media that allow for open loop processing and rendering. This paper provides an information theoretic perspective of haptic rendering. Following the principles of information theory, two novel haptic information rendering pipelines are provided. Moreover, several quantities like entropy, mutual information and filters are defined and instantiated for the case of haptic rendering, while explicit examples of their potential use are analyzed. The paper concludes with examples and a discussion on how information theory can be used to provide a holistic haptic media representation scheme that can be used in a variety of applications including coding, indexing and rendering of stand-alone haptic media.

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Transparency of haptic telepresence systems with constant time delay

Cited by 39 publications

References 10 publications

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

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

Perception of Delayed Stiffness

Haptic media from an information-theoretic perspective

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