Energy Prediction for Teleoperation Systems That Combine the Time Domain Passivity Approach with Perceptual Deadband-Based Haptic Data Reduction
Energy Prediction for Teleoperation Systems That Combine the Time Domain Passivity Approach with Perceptual Deadband-Based Haptic Data Reduction
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DOI：
10.1109/toh.2016.2558157
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发表时间：
2016-10
影响因子：
2.9
通讯作者：
Xiao Xu;Clemens Schuwerk;Burak Cizmeci;E. Steinbach
中科院分区：
文献类型：
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作者：
Xiao Xu;Clemens Schuwerk;Burak Cizmeci;E. Steinbach
我们研究的感知死区（PD）为基础的触觉数据包速率降低计划与时域无源性方法（TDPA）的时延遥操作相结合，并提出了一种新的能量预测（EP）计划，处理所得到的控制器的保守行为。PD方法导致不规则的数据包传输，从而降低系统的透明度和降低遥操作质量时，PD方法与TDPA相结合。所提出的方法（PD+TDPA+EP）自适应地预测在通信中断期间的系统能量，并允许更大的能量输出。这实现了更少的保守控制并提高了遥操作质量。显示阻抗的评价表明，与文献中的相关方法相比，PD+TDPA+EP方法在客观和主观方面都提高了系统透明度。根据用户的主观研究，PD+TDPA+EP方法允许高分组速率降低（高达80%），而不会明显扭曲感知的交互质量。我们还表明，PD+TDPA+EP的方法是首选相关的方法，从文献中的直接比较测试。因此，与建议的PD+TDPA+EP方法，高的数据减少和高的遥操作质量，同时实现时延遥操作。
We study the combination of the perceptual deadband (PD)-based haptic packet rate reduction scheme with the time domain passivity approach (TDPA) for time-delayed teleoperation and propose a novel energy prediction (EP) scheme that deals with the conservative behavior of the resulting controller. The PD approach leads to irregular packet transmission, resulting in degraded system transparency and reduced teleoperation quality when the PD approach is combined with the TDPA. The proposed method (PD+TDPA+EP) adaptively predicts the system energy during communication interruptions and allows for larger energy output. This achieves less conservative control and improves the teleoperation quality. Evaluation of the displayed impedance shows that the PD+TDPA+EP method achieves improved system transparency, both objectively and subjectively, when compared with related approaches from literature. According to a subjective user study, the PD+TDPA+EP method allows for a high packet rate reduction (up to 80 percent) without noticeably distorting the perceived interaction quality. We also show that the PD+TDPA+EP method is preferred over related approaches from literature in a direct comparison test. Thus, with the proposed PD+TDPA+EP method, a high data reduction and a high teleoperation quality are simultaneously achieved for time-delayed teleoperation.