A Novel, Psychophysically Motivated Transmission Approach for Haptic Data Streams in Telepresence and Teleaction Systems

Hinterseer, P.; Steinbach, Eckehard; Hirche, Sandra; Buss, Martin

doi:10.1109/icassp.2005.1415600

Cited by 58 publications

(47 citation statements)

References 6 publications

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“…Apart from very detailed information for every modality a human being can perceive, one major conclusion emerged from these studies: Human haptic perception can be well approximated by Weber's Law. Ernst Weber was an experimental physiologist who, in 1834, first discovered the linear relationship (1) between the stimulus intensity and the smallest still perceivable change of the stimulus intensity . The constant is in modern psychophysics literature referred to as Weber constant or just noticeable difference (JND) (in older literature has been called JND) or differential threshold.…”

Section: Psychophysical Backgroundmentioning

confidence: 99%

Perception-Based Data Reduction and Transmission of Haptic Data in Telepresence and Teleaction Systems

Hinterseer¹,

Hirche

Chaudhuri

et al. 2008

IEEE Trans. Signal Process.

196

149

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Abstract-We present a novel approach for the transmission of haptic data in telepresence and teleaction systems. The goal of this work is to reduce the packet rate between an operator and a teleoperator without impairing the immersiveness of the system. Our approach exploits the properties of human haptic perception and is, more specifically, based on the concept of just noticeable differences. In our scheme, updates of the haptic amplitude values are signaled across the network only if the change of a haptic stimulus is detectable by the human operator. We investigate haptic data communication for a 1 degree-of-freedom (DoF) and a 3 DoF teleaction system. Our experimental results show that the presented approach is able to reduce the packet rate between the operator and teleoperator by up to 90% of the original rate without affecting the performance of the system.

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Section: Psychophysical Backgroundmentioning

confidence: 99%

Perception-Based Data Reduction and Transmission of Haptic Data in Telepresence and Teleaction Systems

Hinterseer¹,

Hirche

Chaudhuri

et al. 2008

IEEE Trans. Signal Process.

196

149

View full text Add to dashboard Cite

show abstract

“…Update controller on the slave side: For a typical teleoperation system, the haptic signals (packets) are transmitted back to the master side at a rate of 1kHz. This packet rate can be significantly reduced by applying the perceptual deadband coding approach described in [28][29][30][31][32][33]. For our pcbMMT system, a similar concept can be employed to reduce the packet rate required for transmitting the estimated physical properties of the object.…”

Section: F2 Updating the Physical Properties Of The Objectsmentioning

confidence: 99%

Point-cloud-based model-mediated teleoperation

Cizmeci

Steinbach

2013

2013 IEEE International Symposium on Haptic Audio Visual Environments and Games (HAVE)

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In this paper, we extend the concept of model-mediated teleoperation (MMT) for complex environments and six degrees of freedom interaction using point cloud surface models. In our system, a time-of-flight camera is used to capture a high resolution point cloud model of the object surface. The point cloud model and the physical properties of the object (stiffness and surface friction coefficient) are estimated at the slave side in real-time and transmitted to the master side using the modeling and updating algorithm proposed in this work. The proposed algorithm adaptively controls the updating of the point cloud model and the object properties according to the slave movements and by exploiting known limitations of human haptic perception. As a result, perceptually irrelevant transmissions are avoided, and thus the packet rate in the communication channel is substantially reduced. In addition, a simple point cloud-based haptic rendering algorithm is adopted to generate the force feedback signals directly from the point cloud model without first converting it into a 3D mesh. In the experimental evaluation, the system stability and transparency are verified in the presence of a round-trip communication delay of up to 1000ms. Furthermore, by exploiting the limits of human haptic perception the presented system allows for a significant haptic data reduction of about 90% for teleoperation systems with time delay. Index Termsmodel-mediated teleoperation, model-update, packet rate reduction, point cloud-based haptic rendering.

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“…Examples of the traditional deadband-based compression schemes for online [6], [7] and offline [8], [9] applications are depicted, respectively, in Fig. 2(a) and 2(b).…”

Section: Introductionmentioning

confidence: 99%

“…In all figures the black dots are the original samples, the grey areas are the respective perceptual deadbands, the red dots are the support points and the red line is the reconstructed signal. The illustrated cases are: (a) online deadband approach [6], [7], (b) offline deadband approach [8], [9] (the magenta dashed lines are the non-used predictions), (c) proposed offline scheme employing only the original samples and (d) proposed offline scheme employing different test points within the deadband.…”

Section: Introductionmentioning

confidence: 99%

Minimizing the number of support points in perceptual offline haptic compression

Brandi

Steinbach

2010

2010 IEEE International Symposium on Haptic Audio Visual Environments and Games

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Abstract-During the recording of a haptic interaction session both position and force-feedback data have to be saved. This work proposes two novel methods for haptic data compression which allow to keep the reconstruction errors during playback below human perception thresholds. Supported by well-known results from psychophysics, the first proposed non-iterative method determines the least amount of samples necessary to reconstruct the force-feedback signal within the perception thresholds. The second proposed method compresses the position signal in open-loop fashion exploiting the fact that for the replay of haptic interaction sessions the position signal no longer has influence on the force-feedback. Thus, the only position information perceived by the user is the displayed visual information and therefore it can be compressed exploiting the limits of human visual perception. Our experimental results show better haptic signal compression performance when compared to the state-of-the-art for both methods while maintaining good haptic and visual subjective experiences.

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A Novel, Psychophysically Motivated Transmission Approach for Haptic Data Streams in Telepresence and Teleaction Systems

Cited by 58 publications

References 6 publications

Perception-Based Data Reduction and Transmission of Haptic Data in Telepresence and Teleaction Systems

Perception-Based Data Reduction and Transmission of Haptic Data in Telepresence and Teleaction Systems

Point-cloud-based model-mediated teleoperation

Minimizing the number of support points in perceptual offline haptic compression

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