TY - GEN
T1 - Telepresence across delayed networks
T2 - 2006 IEEE International Workshop on Haptic Audio Visual Environments and Their Applications, HAVE 2006
AU - Clarke, Stella
AU - Schillhuber, Gerhard
AU - Zaeh, Michael F.
AU - Ulbrich, Heinz
PY - 2006
Y1 - 2006
N2 - The remote nature of telepresence scenarios can be seen as a strongpoint and also as a weakness. Although it enables the remote control of robots in dangerous or inaccessible environments, it necessarily involves some kind of communication mechanism for the transmission of control signals. This communication mechanism necessarily involves adverse network effects such as delay. Three mechanisms aimed at improving the effects of network delay are presented in this paper: (1) Motion prediction to partially compensate for network delays, (2) Force prediction to learn a local force model, thereby reducing dependency on delayed force signals, and (3) Haptic data compression to reduce the required bandwidth of high frequency data. The utilised motion prediction scheme was shown to improve operator performance, but had no influence on operator immersion. The force prediction decreased the deviation between the delayed and the expected forces, thereby stabilising the control loop. The developed haptic data compression scheme reduced the number of packets sent across the network by 86%.
AB - The remote nature of telepresence scenarios can be seen as a strongpoint and also as a weakness. Although it enables the remote control of robots in dangerous or inaccessible environments, it necessarily involves some kind of communication mechanism for the transmission of control signals. This communication mechanism necessarily involves adverse network effects such as delay. Three mechanisms aimed at improving the effects of network delay are presented in this paper: (1) Motion prediction to partially compensate for network delays, (2) Force prediction to learn a local force model, thereby reducing dependency on delayed force signals, and (3) Haptic data compression to reduce the required bandwidth of high frequency data. The utilised motion prediction scheme was shown to improve operator performance, but had no influence on operator immersion. The force prediction decreased the deviation between the delayed and the expected forces, thereby stabilising the control loop. The developed haptic data compression scheme reduced the number of packets sent across the network by 86%.
UR - http://www.scopus.com/inward/record.url?scp=43749108376&partnerID=8YFLogxK
U2 - 10.1109/HAVE.2006.283795
DO - 10.1109/HAVE.2006.283795
M3 - Conference contribution
AN - SCOPUS:43749108376
SN - 1424407613
SN - 9781424407613
T3 - Proceedings of the 2006 IEEE International Workshop on Haptic Audio Visual Environments and Their Applications, HAVE 2006
SP - 171
EP - 175
BT - Proceedings of the 2006 IEEE International Workshop on Haptic Audio Visual Environments and Their Applications, HAVE 2006
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 4 November 2006 through 5 November 2006
ER -