Data Reduction Design Based on Delta-Sigma Modulator in Quantized Scaling-Bilateral Control for Realizing of Haptic Broadcasting

Masaki Takeya, Yusuke Kawamura, Seiichiro Katsura

Research output: Contribution to journalArticlepeer-review

11 Citations (Scopus)


This paper proposes haptic data quantization in communication systems in which all haptic information is transmitted through a network. From an engineering view point, bilateral control with master and slave manipulators has been studied to reproduce kinesthetic sensations. However, in scaled haptic transmission applications, communication constraints are a serious problem especially in a microspace. Moreover, communication delay deteriorates the performance of haptic sensation transmission when a large amount of data flows into a communication line. To reduce the communication delay caused by the amount of information and communication constraints, a data quantization method is discussed. Along with audio and visual information, an encoding technique is often applied to haptic information. In particular, a delta-sigma modulator based on a static quantizer has low computational complexity, and it reduces the quantization error in a low-frequency domain. Therefore, haptic sensation transmission with the modulator is constructed in quantized scaling-bilateral control. According to the analyses of hybrid parameters including the interference of a quantization error and a communication delay, the performance of haptic sensation transmission is evaluated. In experiments with a communication delay, stable operation and improved performance are achieved to reduce all information: current, position, and force.

Original languageEnglish
Article number7365421
Pages (from-to)1962-1971
Number of pages10
JournalIEEE Transactions on Industrial Electronics
Issue number3
Publication statusPublished - 2016 Mar 1


  • data reduction,bilateral control
  • delta-sigma modulator
  • quantization error
  • Real-world haptics

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications

Fingerprint Dive into the research topics of 'Data Reduction Design Based on Delta-Sigma Modulator in Quantized Scaling-Bilateral Control for Realizing of Haptic Broadcasting'. Together they form a unique fingerprint.

Cite this