TY - GEN
T1 - Opening the haptic loop
T2 - IEEE International Symposium on Haptic Audio-Visual Environments and Games, HAVE 2011
AU - Chaudhari, Rahul
AU - Schuwerk, Clemens
AU - Nitsch, Verena
AU - Steinbach, Eckehard
AU - Farber, Berthold
PY - 2011
Y1 - 2011
N2 - For realtime teleoperation with haptic feedback, network-induced artifacts like delay, packet loss and lossy coding of haptic data deteriorate the operability of the system. We provide a systematic quantification of the limits within which, these network-induced degradations are tolerable for human task performance in executing a given haptic task. These limits are conservative in the sense that we do not account for any stabilizing approaches from control engineering to counter the impact of the network-induced degradations. Through experimental evaluation with a pursuit tracking task, we show that task performance is most affected by delay on the network and a strong lossy coding scheme. With statistical analysis we show that task performance is significantly decreased for one-way delay higher than 14 ms and strong lossy coding with a deadband parameter higher than 27 %. For the given task, packet loss is found not to affect task performance significantly.
AB - For realtime teleoperation with haptic feedback, network-induced artifacts like delay, packet loss and lossy coding of haptic data deteriorate the operability of the system. We provide a systematic quantification of the limits within which, these network-induced degradations are tolerable for human task performance in executing a given haptic task. These limits are conservative in the sense that we do not account for any stabilizing approaches from control engineering to counter the impact of the network-induced degradations. Through experimental evaluation with a pursuit tracking task, we show that task performance is most affected by delay on the network and a strong lossy coding scheme. With statistical analysis we show that task performance is significantly decreased for one-way delay higher than 14 ms and strong lossy coding with a deadband parameter higher than 27 %. For the given task, packet loss is found not to affect task performance significantly.
UR - https://www.scopus.com/pages/publications/84155177077
U2 - 10.1109/HAVE.2011.6088392
DO - 10.1109/HAVE.2011.6088392
M3 - Conference contribution
AN - SCOPUS:84155177077
SN - 9781457704987
T3 - HAVE 2011 - IEEE International Symposium on Haptic Audio-Visual Environments and Games, Proceedings
SP - 56
EP - 61
BT - HAVE 2011 - IEEE International Symposium on Haptic Audio-Visual Environments and Games, Proceedings
Y2 - 14 October 2011 through 17 October 2011
ER -