A network-adaptive compensation technique for tele-haptics using position prediction algorithm

Abstract

Haptic interfaces have been applied as controllers in many areas especially tele-operation and distributed virtual environments. They are used to manipulate objects in both physical and virtual environments. Haptics enhance force interactions and provides a better immersive user experience. Moreover haptic devices inherently function in close proximity to humans. In the case of network-based haptic control, the network criteria for stability in haptic interactions are much more sophisticated than that for tethered devices and the kinematic and force data are required to be transferred over communication link within a stringent time. Otherwise, users may feel unexpected vibration or abrupt force even when the device is in free motion. This is mainly due to position de-synchronization between local and remote environments. This paper addresses position synchronization which is the essential problem to lose stability of haptic experience under the influence of network and system impairments. A novel encoder referencing position synchronization algorithm is proposed in order to compensate the network latency and packet loss over network. This has been successfully tested under influence of the network impairment and low transmission rates.