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