Smoothing Technique using Time Adjustment Mechanism for Linear Haptic Media Synchronization in Teleoperation

O. Wongwirat and S. Ohara (Japan)


Haptic media, synchronization, time adjustment algorithm, and teleoperation


The role of haptics in teleoperation is to provide a more realistic feeling of touch from remote presence instead of just visual feedback. The problem that makes difficulties when applying the haptics in teleoperation comes from delay variation on the networks. The delay variation causes fluctuation in sequence intervals of haptic media that is used to update the haptic device at the remote operation, thereby results in instability in the form of jolting and buzzing. This paper introduces the synchronization control mechanism that employs a smoothing technique with time adjustment algorithm to solve instability of the haptic device in teleoperation due to the delay variation problem. Linear sequence of the haptic media using in telesimulated remote surgery application is mainly focused. Model of application and derivation of the algorithm are provided in details, as well as haptic processes used in the system. Performance of the proposed synchronization control mechanism is investigated by simulation under the delays resulted from light, moderate, and high traffic conditions. The simulation results express that the mechanism can provide stability with smoothing display of the haptic device when threshold of the time adjustment algorithm is chosen big enough to cover the peak delay variation.

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