Perception based adaptive haptic communication protocol (PAHCP)

Packet-switched communication of haptic data telepresence systems is characterized by high packet rates on the communication channel. The quality of the internet-based telepresence systems depend on the quality of the communication channel between the operator and the remote site, and the delay jitter in the data exchange. Perceptual based data reduction for haptic data is used to reduce packet rate. It is proved and through experimental studies that the implementing the perception thresholds and additional buffering techniques can significantly reduce haptic data traffic with little or no influence on the quality of collaborative haptic-enabled (C-HE) or Tele-Operation/Tele-Presence, and Tele-Interaction (TPTA). In this paper, an adaptive size of the dead-band (Just Noticeable Difference - JND) technique for feedback forces received from remote side is presented, while keeping fixed JND for movements velocities for the transmitted haptic data from the operator side, to reduces the packet rate without perceptible disturbance.