Abstract
In this chapter, we present signal-processing techniques that are suitable for haptic data compression in teleoperation systems. The presented haptic data compression methods mostly focus on downsampling methods, including the adaptive downsampling method introduced in [1, 2] as well as the fixed rate downsampling method.
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Notes
- 1.
Basics of data compression methods are presented in Appendix F.
Abbreviations
- d :
-
Deadband threshold
- n 1, n 2 :
-
Positive integers
- f c :
-
Most recently transmitted force sample
- \(\hat{x}_{{p}} , \hat{f}_{{p}}\) :
-
Position and force samples computed by the prediction mode
- \(\hat{x}_{{B}} ,\hat{f}_{{B}}\) :
-
Position and force samples computed by the bidirectional prediction mode
- x I , f I :
-
Intra-position and force samples
- D f :
-
Downsampling factor
- L :
-
Number of data sequence
- f max :
-
Maximum possible force
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Lee, Jy., Payandeh, S. (2015). Haptic Data Compression. In: Haptic Teleoperation Systems. Springer, Cham. https://doi.org/10.1007/978-3-319-19557-5_5
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DOI: https://doi.org/10.1007/978-3-319-19557-5_5
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