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A Layered Protocol Architecture for Haptic Teleoperation Systems Based on the Bayesian Approach

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Haptic Teleoperation Systems

Abstract

In this chapter, we present a layered protocol architecture for haptic teleoperation systems over unreliable network conditions, such as time-varying delay, packet loss, and out-of-ordered packets.

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Notes

  1. 1.

    As the current technology of virtual reality is closely related with teleoperation systems, real slave forces obtained from a force/torque sensor can be replaced by force data implemented in a virtual environment. The forces obtained from the sensor generally contain additive noise whereas the virtual forces do not contain any noise.

Abbreviations

\(\dot{f}_{\text{m}} ,\dot{f}_{\text{s}}\) :

Rates of force change

c :

Filter coefficient

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Authors and Affiliations

  1. Electronics and Telecommunications Research Institute (ETRI), Daejeon, Republic of Korea

    Jae-young Lee

  2. Simon Fraser University, Burnaby, British Columbia, Canada

    Shahram Payandeh

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  1. Jae-young Lee
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  2. Shahram Payandeh
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Correspondence to Jae-young Lee .

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Lee, Jy., Payandeh, S. (2015). A Layered Protocol Architecture for Haptic Teleoperation Systems Based on the Bayesian Approach. In: Haptic Teleoperation Systems. Springer, Cham. https://doi.org/10.1007/978-3-319-19557-5_4

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  • DOI: https://doi.org/10.1007/978-3-319-19557-5_4

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-19556-8

  • Online ISBN: 978-3-319-19557-5

  • eBook Packages: EngineeringEngineering (R0)

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