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Quarterly
(winter, spring, summer, fall)
128 pp. per issue
8 1/2 x 11, illustrated
Founded: 1992
ISSN 1054-7460
E-ISSN 1531-3263

Presence: Teleoperators and Virtual Environments

PDF (663.342 KB) | PDF Plus (287.741 KB)

Perception-Based Data Reduction for Haptic Force-Feedback Signals Using Velocity-Adaptive Deadbands

Julius Kammerl*

Institute for Media Technology Technische Universität München D-80290 Munich, Germany

Iason Vittorias

Institute of Automatic Control Engineering Technische Universität München D-80290 Munich, Germany

Verena Nitsch, Berthold Faerber

Human Factors Institute University of the Bundeswehr Munich D-85577 Neubiberg, Germany

Eckehard Steinbach

Institute for Media Technology Technische Universität München D-80290 Munich, Germany

Sandra Hirche

Institute of Automatic Control Engineering Technische Universität München D-80290 Munich, Germany

*Correspondence to .

Abstract

In telepresence and teleaction (TPTA) systems, the transmission of haptic signals puts high demands on the applied signal processing and communication procedures. When running a TPTA session across a packet-based communication network (e.g., the Internet), minimizing the end-to-end delay results in packet rates of up to the applied sampling rate of the local control loops at the human system interface and the teleoperator. The perceptual deadband data reduction approach for haptic signals successfully addresses the challenge of high packet rates in networked TPTA systems and satisfies the strict delay constraints. In this paper, we extend the underlying perceptual model of the deadband approach by incorporating psychophysical findings on human force-feedback discrimination during operators' relative hand movements. By applying velocity-dependent perception thresholds to the deadband approach, we observe further improvement in efficiency and performance due to improved adaption to human haptic perception thresholds. The psychophysical experiments conducted reveal improved data reduction performance of our proposed haptic perceptual coding scheme without impairing the user experience. Our results show a high data reduction ability of up to 96% without affecting system transparency or the operator's task performance.

Cited by

Faezeh Heydari Khabbaz, Andrew Goldenberg, James Drake. (2016) Force Discrimination Ability of the Human Hand near Absolute Threshold for the Design of Force Feedback Systems in Teleoperations. Presence: Teleoperators and Virtual Environments 25:147-60.
Online publication date: 19-Jul-2016.
Abstract | PDF (303 KB) | PDF Plus (262 KB) 
Clemens Schuwerk, Xiao Xu, Rahul Chaudhari, Eckehard Steinbach. (2015) Compensating the Effect of Communication Delay in Client-Server--Based Shared Haptic Virtual Environments. ACM Transactions on Applied Perception 13:11-22.
Online publication date: 10-Dec-2015.
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Loi Huynh, Mehrdad H. Zadeh. (2014) Effects of Haptic Data compression on user performance in Collaborative Haptic Virtual Environment. 2014 IEEE International Symposium on Haptic, Audio and Visual Environments and Games (HAVE) Proceedings106-111.
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Gheorghita Ghinea, Christian Timmerer, Weisi Lin, Stephen R. Gulliver. (2014) Mulsemedia. ACM Transactions on Multimedia Computing, Communications, and Applications 11:1s1-23.
Online publication date: 1-Oct-2014.
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Zhengzheng Jiang, Zhan Gao, Xiang Chen, Wanjie Sun. (2013) Remote Haptic Collaboration for Virtual Training of Lumbar Puncture. Journal of Computers 8:12.
Online publication date: 1-Dec-2013.
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Jing Qin, Kup-Sze Choi, Renheng Xu, Wai-Man Pang, Pheng-Ann Heng. (2013) Effect of Packet Loss on Collaborative Haptic Interactions in Networked Virtual Environments: An Experimental Study. Presence: Teleoperators and Virtual Environments 22:136-53.
Online publication date: 30-Apr-2013.
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Qassim Nasir, Enas Khalil. (2012) Perception based adaptive haptic communication protocol (PAHCP). 2012 International Conference on Computer Systems and Industrial Informatics1-6.
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Jing Qin, Kup-Sze Choi, Renheng Xu, Wai-Man Pang, Pheng-Ann Heng. (2012) Packet-loss-resilient perception-based haptic data reduction and transmission using ACK packets. 2012 IEEE 11th International Conference on Signal Processing1165-1170.
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Eckehard Steinbach, Sandra Hirche, Marc Ernst, Fernanda Brandi, Rahul Chaudhari, Julius Kammerl, Iason Vittorias. (2012) Haptic Communications. Proceedings of the IEEE 100:4937-956.
Online publication date: 1-Apr-2012.
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Nizar Sakr, Nicolas D. Georganas, Jiying Zhao. (2011) Human Perception-Based Data Reduction for Haptic Communication in Six-DoF Telepresence Systems. IEEE Transactions on Instrumentation and Measurement 60:113534-3546.
Online publication date: 1-Nov-2011.
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Julius Kammerl, Rahul Chaudhari, Eckehard Steinbach. (2011) Combining Contact Models With Perceptual Data Reduction for Efficient Haptic Data Communication in Networked VEs. IEEE Transactions on Instrumentation and Measurement 60:157-68.
Online publication date: 1-Jan-2011.
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Eckehard Steinbach, Sandra Hirche, Julius Kammerl, Iason Vittorias, Rahul Chaudhari. (2011) Haptic Data Compression and Communication. IEEE Signal Processing Magazine 28:187-96.
Online publication date: 1-Jan-2011.
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Julius Kammerl, Rahul Chaudhari, Eckehard Steinbach. (2010) Exploiting directional dependencies of force perception for lossy haptic data reduction. 2010 IEEE International Symposium on Haptic Audio Visual Environments and Games1-6.
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