Haptic data compression based on delta-sigma modulator in quantized scaling-bilateral control

Masaki Takeya, Seiichiro Katsura, Yusuke Kawamura

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

With the technological development of robotics, a bilateral control based on acquiring and rendering tactile sensation, which is one of the human five senses, enables human to manipulate by using wireless network. In order to realize the applications of haptic transmission as well as audio and visual information, the research field of haptic data compression will be considered. However, information volume is restricted by a communication bandwidth in the scaled haptic transmission provided from Shannon-Hartley theorem. Therefore, the purpose of this paper to clarify the compression method of haptic data by using a delta-sigma modulator in quantized scaling-bilateral control. In the proposed system, 1st-order delta-sigma modulator can be transformed as the high-pass filter and it is possible to suppress quantization error. To evaluate scaled haptic transmission, the hybrid parameters including the interference of quantization error are analyzed by the Bode diagrams. Finally, the experimental results show the stable operation as well as the improved performance to compress the position and force information.

Original languageEnglish
Title of host publicationProceeding - 2015 IEEE International Conference on Industrial Informatics, INDIN 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages384-389
Number of pages6
ISBN (Print)9781479966493
DOIs
Publication statusPublished - 2015 Sep 28
Event13th International Conference on Industrial Informatics, INDIN 2015 - Cambridge, United Kingdom
Duration: 2015 Jul 222015 Jul 24

Other

Other13th International Conference on Industrial Informatics, INDIN 2015
CountryUnited Kingdom
CityCambridge
Period15/7/2215/7/24

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Keywords

  • Bandwidth
  • Control systems
  • Force
  • Frequency-domain analysis
  • Haptic interfaces
  • Modulation
  • Quantization (signal)

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Industrial and Manufacturing Engineering
  • Instrumentation
  • Computer Networks and Communications
  • Control and Systems Engineering

Cite this

Takeya, M., Katsura, S., & Kawamura, Y. (2015). Haptic data compression based on delta-sigma modulator in quantized scaling-bilateral control. In Proceeding - 2015 IEEE International Conference on Industrial Informatics, INDIN 2015 (pp. 384-389). [7281765] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/INDIN.2015.7281765