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Signal processing techniques for haptic data compression in teleoperation systems

机译：遥操作系统中触觉数据压缩的信号处理技术

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摘要

In this paper, we present various signal processing techniques for haptic data compression in networked teleoperation systems or haptic interfaces. A novel rate-distortion optimized quantizer is introduced to compress haptic data whose dynamic range is limited. Prediction methods, which are primarily based on fixed rate down-sampling, are also presented and combined with the proposed quantizer for performance improvement. Experiments are performed using a haptic interface in a virtual environment to evaluate the proposed signal processing techniques. An objective performance measure, which is called the operational rate-distortion measure, is introduced to evaluate not only the compression ratio, but also the quality of reconstructed haptic data.
机译：在本文中，我们在网络漫通式系统或触觉接口中呈现了用于触觉数据压缩的各种信号处理技术。 引入了一种新颖的速率 - 失真优化量化器以压缩动态范围有限的触觉数据。 还呈现了主要基于固定速率下采样的预测方法，并与所提出的量化器结合进行性能改进。 使用虚拟环境中的触觉界面进行实验，以评估所提出的信号处理技术。 引入了一种目标性能措施，称为操作速率失真测量值不仅要评估压缩比，而且还引入了重建触觉数据的质量。

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