Abstract
Current haptic (force feedback) telepresence systems operated over a communication network as, e.g. the Internet, require high packet rates for the transmission of the command and sensor signals. A novel approach to reduce the network traffic by means of deadband control is proposed. Data packets are only sent if the sampled signal changes more than a given threshold value. Passivity based reconstruction methods are introduced to reconstruct the untransmitted values at the receiver guaranteeing stability of the overall system. Experiments show that a packet rate reduction of up to 87% is achieved without impairing transparency.
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