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

Masaki Takeya, Seiichiro Katsura, Yusuke Kawamura

研究成果: Conference contribution

抄録

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.

本文言語English
ホスト出版物のタイトルProceeding - 2015 IEEE International Conference on Industrial Informatics, INDIN 2015
出版社Institute of Electrical and Electronics Engineers Inc.
ページ384-389
ページ数6
ISBN(印刷版)9781479966493
DOI
出版ステータスPublished - 2015 9月 28
イベント13th International Conference on Industrial Informatics, INDIN 2015 - Cambridge, United Kingdom
継続期間: 2015 7月 222015 7月 24

Other

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

ASJC Scopus subject areas

  • 人工知能
  • コンピュータ サイエンスの応用
  • 産業および生産工学
  • 器械工学
  • コンピュータ ネットワークおよび通信
  • 制御およびシステム工学

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