A Long Short-Term Memory-Based Model for Kinesthetic Data Reduction

Abstract

This paper proposes a novel mathematical model for teleoperation over communication networks. For teleoperation over a communication network, a high packet rate can result in inefficient data transmission and cross-traffic problems, leading to extra delay and jitter. This paper proposes an LSTM-based mathematical model which focuses on kinesthetic data reduction without loss of transparency during the transmission process through joint training combined with haptic data and perceptual deadband. Since the LSTM network can deal with a time series of haptic data, we further test the system performance through practically collected data. We investigate the packet rate and perceptual transparency of the proposed mathematical model by comparing with the conventional deadband. Additionally, we compare the proposed mathematical model with the perceptual deadband-based codecs. Simulation results show that the proposed solution further reduces the packet rate when dealing with haptic data without noticeable distortion. Also, comparing with the current JND perceptual threshold, the proposed mathematical model helps improve the practicality of the bilateral teleoperation system without losing transparency.