Passive event-based extrapolation for lossy haptic data compression in bilateral presence systems

A new lossy compression method is proposed for haptic (force, velocity) data as exchanged in bilateral telepresence systems. The method is based on the passive extrapolative compression strategy proposed in [1]. The innovation is that the extrapolations do not have a stiff horizon, but are triggered by considerable changes (events) in the target environment. This enables longer average extrapolation horizons and thus, higher compression. Experiments are conducted using two DLR Light Weight Robots. The results indicate that the method outperforms older implementations.

[1]  Sandra Hirche,et al.  Haptic Telepresence in Packet Switched Communication Networks , 2005 .

[2]  Alin Albu-Schäffer,et al.  DLR's torque-controlled light weight robot III-are we reaching the technological limits now? , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[3]  M. Buss,et al.  IMPEDANCE-BASED TRANSPARENCY ANALYSIS OF HAPTIC TELEPRESENCE SYSTEMS , 2006 .

[4]  Mehrdad Hosseini Zadeh,et al.  Perception-based lossy haptic compression considerations for velocity-based interactions , 2007, Multimedia Systems.

[5]  Gaurav S. Sukhatme,et al.  Touch in Virtual Environments: Haptics and the Design of Interactive Systems , 2001 .

[6]  Christoph W. Borst,et al.  Predictive coding for efficient host-device communication in a pneumatic force-feedback display , 2005, First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. World Haptics Conference.

[7]  Sandra Hirche,et al.  Lossy data reduction methods for haptic telepresence systems , 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..

[8]  Sandra Hirche,et al.  Transparent Data Reduction in Networked Telepresence and Teleaction Systems. Part II: Time-Delayed Communication , 2007, PRESENCE: Teleoperators and Virtual Environments.

[9]  Tsuneo Yoshikawa,et al.  Bilateral control of master-slave manipulators for ideal kinesthetic coupling-formulation and experiment , 1994, IEEE Trans. Robotics Autom..

[10]  Sandra Hirche,et al.  Transparent Data Reduction in Networked Telepresence and Teleaction Systems. Part I: Communication without Time Delay , 2007, PRESENCE: Teleoperators and Virtual Environments.

[11]  Antonio Ortega,et al.  A comparison of different haptic compression techniques , 2002, Proceedings. IEEE International Conference on Multimedia and Expo.