A Novel Energy Compensation Scheme for Quality Enhancement in Time-Delayed Teleoperation With Multi-DoF Haptic Data Reduction and Communication
A Novel Energy Compensation Scheme for Quality Enhancement in Time-Delayed Teleoperation With Multi-DoF Haptic Data Reduction and Communication
复制标题
一种新颖的能量补偿方案，用于通过多自由度触觉数据缩减和通信来提高时滞远程操作的质量
DOI：
10.1109/toh.2021.3103379
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发表时间：
--
影响因子：
2.9
通讯作者：
E. Steinbach
中科院分区：
文献类型：
--
作者：
H. Singh;Q. Liu;M. Panzirsch;T. Hulin;E. Steinbach
高效、低延迟的触觉信息交换对于在真实世界通信网络上运行的高保真遥操作系统的设计起着关键作用。在通信不可靠性，如延迟和数据包丢失的存在下，稳定性保证控制方案和触觉数据减少方法的组合是必不可少的，以解决从控制和通信的角度来看的挑战。在本文中，我们扩展我们以前的一个自由度（DoF）的解决方案，结合时域被动方法（TDPA）和感知死区为基础的（DB）触觉数据减少方法的3DoF。我们还将1DoF能量补偿（EC）方案扩展到3DoF，以减轻由TDPA和DB方法的相互作用引入的控制伪影。详细分析了3DoF解决方案，并通过真实世界的遥操作设置进行了验证。所提出的方法和现有的解决方案的性能进行了比较，通过客观和主观的评估。实验结果表明，通过联合考虑评估的客观/主观质量和所需的数据包速率，所提出的3DoF解决方案与EC方案相比，最先进的解决方案显着提高了系统性能。
Efficient and low-delay exchange of hapticinformation plays a key role for the design of high-fidelity teleoperation systems that operate over real-world communication networks. In the presence of communication unreliabilities such as delay and packet loss, a combination of stability-ensuring control schemes and haptic data reduction approaches is essential to address the challenges from both the control and communication perspective. In this paper, we extend our previous one degree-of-freedom (DoF) solution to 3DoF that combines the time-domain passivity approach (TDPA) and the perceptual deadband-based (DB) haptic data reduction approach. We also extend the 1DoF energy compensation (EC) scheme to 3DoF for mitigating the control artifacts introduced by the inter-play of the TDPA and DB approaches. The 3DoF solution is analyzed in detail and verified through a real-world teleoperation setup. The performance of the proposed method and the existing solutions is compared though objective and subjective assessments. Experimental results show that by jointly considering the evaluated objective/subjective quality and the required packet rate, the proposed 3DoF solution with the EC scheme improves system performance significantly compared to the state-of-the-art solutions.