TY - GEN
T1 - Haptic data reduction in multi-DoF teleoperation systems
AU - Vittorias, Iason
AU - Ben Rached, Hamza
AU - Hirche, Sandra
PY - 2010
Y1 - 2010
N2 - In this paper a haptic data reduction method for multi-DoF teleoperation systems is presented. A general framework based on the deadband approach is given; it gives the flexibility, by knowledge of psychophysical properties, to form hyper-zones where information can be considered imperceivable by the human and thus does not need to be transmitted. A proper data reconstruction strategy is proposed for the receiver side to guarantee stability of global control loop despite the loss of information. Simulation and experiments on a real 7-DoF telerobotic system validate the approach and indicate high data reduction rates.
AB - In this paper a haptic data reduction method for multi-DoF teleoperation systems is presented. A general framework based on the deadband approach is given; it gives the flexibility, by knowledge of psychophysical properties, to form hyper-zones where information can be considered imperceivable by the human and thus does not need to be transmitted. A proper data reconstruction strategy is proposed for the receiver side to guarantee stability of global control loop despite the loss of information. Simulation and experiments on a real 7-DoF telerobotic system validate the approach and indicate high data reduction rates.
UR - http://www.scopus.com/inward/record.url?scp=78650546825&partnerID=8YFLogxK
U2 - 10.1109/HAVE.2010.5623991
DO - 10.1109/HAVE.2010.5623991
M3 - Conference contribution
AN - SCOPUS:78650546825
SN - 9781424465088
T3 - HAVE 2010 - 2010 IEEE International Symposium on Haptic Audio-Visual Environments and Games, Proceedings
SP - 83
EP - 88
BT - HAVE 2010 - 2010 IEEE International Symposium on Haptic Audio-Visual Environments and Games, Proceedings
T2 - 2010 9th IEEE International Symposium on Haptic Audio-Visual Environments and Games, HAVE 2010
Y2 - 16 October 2010 through 17 October 2010
ER -