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Data compression techniques enable the transmission of highly informative data using little bandwidth. Examples of popular compression formats are Google's VP9 and MPEG's MP3 for video and audio data, respectively. Recently, researchers focused on the applicability of compression techniques for haptic data too. One of these approaches, called the deadband compression approach, transmits new haptic...
We introduce a novel method to improve the performance of passive teleoperation systems with force reflection. It consists of integrating kinesthetic haptic feedback provided by common grounded haptic interfaces with cutaneous haptic feedback. The proposed approach can be used on top of any time-domain control technique that ensures a stable interaction by scaling down kinesthetic feedback when this...
A novel idea for improving transparency of teleoperation systems with force feedback is presented. This approach is based on the idea of sensory subtraction presented in [12], and consists of providing the operator with independently controlled kinesthetic and cutaneous feedback to improve the realism of haptic rendering of the remote environment (i.e., transparency), while preserving stability. More...
A study on the role of cutaneous and kinesthetic force feedback in teleoperation is presented. Cutaneous cues provide less transparency than kinesthetic force feedback but they do not affect the stability of the teleoperation system. On the other hand, kinesthesia provides a realistic illusion of telepresence but it affects the stability of the haptic loop. Several well-established control techniques...
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