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Networked teleoperation with haptic feedback is a prime example for the emerging Tactile Internet, which requires a careful orchestration of haptic communication and control. One major challenge in this context is how to maximize the user's quality-of-experience (QoE) while ensuring at the same time the stability of the global control loop in the presence of communication delay. In this paper, we...
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...
Bilateral teleoperation systems with haptic feedback allow human users to interact with objects or perform complex tasks in remote or inaccessible environments. Communication delays in teleoperation systems jeopardize system stability and transparency, leading to degraded system performance and poor user experience. In this paper, we provide a survey of the model-mediated teleoperation (MMT) approach,...
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