Adaptive Packet Rate Control for the Mitigation of Bursty Haptic Traffic in Teleoperation Systems

This paper proposes a novel haptic packet rate control scheme for networked teleoperation systems which improves the state-of-the-art perceptual deadband-based haptic data reduction approach. The proposed method uses a peak-suppressing adaptive deadband to mitigate the burstiness of the haptic traffic and to control the packet rate. Experimental results show that our method is able to reduce the overall network load by reducing the burstiness of the haptic data transmission. It can also stabilize haptic packet rate beneath a certain transmission limit while preserving a high quality of remote interaction.