Preliminary Results of the Optimized Network Interface for Long Distance Haptic Teleoperation

[摘要] Bilateral haptic teleoperation (BHT) has been the center of interest for researchers for over half a century. It is a type of cutting-edge technology that enables the operator to transmit touch sensations over the internet to any part of the globe. The BHT suffers from issues such as stability and transparency due the presence of network latency, jitters, and device impedance. In this paper, we designed an optimized network solution for bilateral haptic teleoperation. In this regard, successful long-distance haptic teleoperation experiments were performed with a pair of haptic devices, i.e., a Phantom Desktop (TouchX) and a Novint Falcon device, to test the robustness and versatility of the framework.

[关键词] haptic;networking;bilateral;user datagram protocol;control buffer;generalized teleoperation;Phantom Desktop;TouchX;high-level network controller