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ptic Teleoperation Systems Signal Processing Perspective

Haptic Teleoperation Systems

Jae-young Lee Shahram Payandeh •

Haptic Teleoperation Systems Signal Processing Perspective

123

Jae-young Lee Electronics and Telecommunications Research Institute (ETRI) Deajeon Republic of Korea

ISBN 978-3-319-19556-8 DOI 10.1007/978-3-319-19557-5

Shahram Payandeh Simon Fraser University Burnaby, BC Canada

ISBN 978-3-319-19557-5

(eBook)

Library of Congress Control Number: 2015942543 Springer Cham Heidelberg New York Dordrecht London © Springer International Publishing Switzerland 2015 This work is subject to copyright. All rights are reserved by the Publisher, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission or information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar methodology now known or hereafter developed. The use of general descriptive names, registered names, trademarks, service marks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. The publisher, the authors and the editors are safe to assume that the advice and information in this book are believed to be true and accurate at the date of publication. Neither the publisher nor the authors or the editors give a warranty, express or implied, with respect to the material contained herein or for any errors or omissions that may have been made. Printed on acid-free paper Springer International Publishing AG Switzerland is part of Springer Science+Business Media (www.springer.com)

Preface

This book explores haptic data processing methods for teleoperation systems, including prediction, compression, and error correction. In the proposed haptic data prediction method, unreliable network conditions, such as time-varying delay and packet loss, are detected by a transport layer protocol. Given the information from the transport layer, a Bayesian approach is introduced to predict position and force data in haptic teleoperation systems. Stability of the proposed method within stochastic formalism is presented based on the notion of passivity-based control. In the proposed haptic data compression method, compression techniques based on fixed rate downsampling are presented for efficient transmission over the network. Objective and psychophysical evaluations are conducted to demonstrate the compression performance of the proposed method and the adaptive downsampling method based on human perception. By presenting the two evaluation measures, the usefulness of the objective evaluation measure for haptic data is investigated. Finally, a forward error correction method is applied to haptic data over the unreliable network. Given the psychophysical evaluation results to determine the required number of bit