A Visual-Haptic Multiplexing Scheme for Teleoperation Over Constant-Bitrate Communication Links

  • Burak CizmeciEmail author
  • Rahul Chaudhari
  • Xiao Xu
  • Nicolas Alt
  • Eckehard Steinbach
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 8619)


We propose a novel multiplexing scheme for teleoperation over constant bitrate (CBR) communication links. The proposed approach uniformly divides the channel into 1 ms resource buckets and controls the size of the transmitted video packets as a function of the irregular haptic transmission events generated by a perceptual haptic data reduction approach. The performance of the proposed multiplexing scheme is measured objectively in terms of delay-jitter and packet rates. The results show that acceptable multiplexing delays on both the visual and haptic streams are achieved. Our evaluation shows that the proposed approach can provide a guaranteed constant delay for the time-critical force signal, while introducing acceptable video delay.


Teleoperation Haptic communication Multi-modal multiplexing Human-robot interactions over network 



The first author gratefully acknowledges the support of the TUM Graduate School’s Faculty Graduate Center (Electrical Engineering and Information Technology) at the TU München.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2014

Authors and Affiliations

  • Burak Cizmeci
    • 1
    Email author
  • Rahul Chaudhari
    • 1
  • Xiao Xu
    • 1
  • Nicolas Alt
    • 1
  • Eckehard Steinbach
    • 1
  1. 1.Institute for Media TechnologyTechnische Universität MünchenMunichGermany

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