TY - GEN
T1 - Coding and decoding scheme for wide-band bilateral teleoperation
AU - Mizuochi, Mariko
AU - Ohnishi, Kouhei
PY - 2012/6/4
Y1 - 2012/6/4
N2 - Precise bilateral teleoperation based on wide-band signals enables an operator to achieve complicated tasks. A short sampling period is required for acquisition and transmission of wide-band signals. The sampling period is limited, however, when controllers are connected through a network. In this paper, a coding and decoding scheme for wide-band bilateral teleoperation is proposed. The method uses a low pass filter and discrete Fourier transform for the coding and inverse discrete Fourier transform for the decoding. High frequency signals can be transmitted even under severe limitation on the packet transmission rate. The scheme was verified through experiment with bilateral teleoperation. The validity of the proposed method was confirmed in terms of the transmission of wide-band signals and the reproduction of wide-band haptic sensation.
AB - Precise bilateral teleoperation based on wide-band signals enables an operator to achieve complicated tasks. A short sampling period is required for acquisition and transmission of wide-band signals. The sampling period is limited, however, when controllers are connected through a network. In this paper, a coding and decoding scheme for wide-band bilateral teleoperation is proposed. The method uses a low pass filter and discrete Fourier transform for the coding and inverse discrete Fourier transform for the decoding. High frequency signals can be transmitted even under severe limitation on the packet transmission rate. The scheme was verified through experiment with bilateral teleoperation. The validity of the proposed method was confirmed in terms of the transmission of wide-band signals and the reproduction of wide-band haptic sensation.
UR - http://www.scopus.com/inward/record.url?scp=84861586437&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84861586437&partnerID=8YFLogxK
U2 - 10.1109/AMC.2012.6197028
DO - 10.1109/AMC.2012.6197028
M3 - Conference contribution
AN - SCOPUS:84861586437
SN - 9781457710711
T3 - International Workshop on Advanced Motion Control, AMC
BT - Abstracts - 2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012
T2 - 2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012
Y2 - 25 March 2012 through 27 March 2012
ER -