TY - JOUR
T1 - A Long-Short-Term Memory-Based Model for Kinesthetic Data Reduction
AU - Deng, Qifang
AU - Mahmoodi, Toktam
AU - Aghvami, Abdol-Hamid
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2023/10/1
Y1 - 2023/10/1
N2 - This article proposes a novel mathematical model for teleoperation over communication networks. For teleoperation over a communication network, a high packet rate can result in inefficient data transmission and cross-traffic problems, leading to extra delay and jitter. This article proposes an long short-term memory (LSTM)-based mathematical model which focuses on kinesthetic data reduction without loss of transparency during the transmission process through joint training combined with haptic data and perceptual deadband. Since the LSTM network can deal with a time series of haptic data, we further test the system performance through practically collected data. We investigate the packet rate and perceptual transparency of the proposed mathematical model by comparing with the conventional deadband. Additionally, we compare the proposed mathematical model with the perceptual deadband-based codecs. Simulation results show that the proposed solution further reduces the packet rate when dealing with haptic data without noticeable distortion. Also, comparing with the current just noticeable difference perceptual threshold, the proposed mathematical model helps improve the practicality of the bilateral teleoperation system without losing transparency.
AB - This article proposes a novel mathematical model for teleoperation over communication networks. For teleoperation over a communication network, a high packet rate can result in inefficient data transmission and cross-traffic problems, leading to extra delay and jitter. This article proposes an long short-term memory (LSTM)-based mathematical model which focuses on kinesthetic data reduction without loss of transparency during the transmission process through joint training combined with haptic data and perceptual deadband. Since the LSTM network can deal with a time series of haptic data, we further test the system performance through practically collected data. We investigate the packet rate and perceptual transparency of the proposed mathematical model by comparing with the conventional deadband. Additionally, we compare the proposed mathematical model with the perceptual deadband-based codecs. Simulation results show that the proposed solution further reduces the packet rate when dealing with haptic data without noticeable distortion. Also, comparing with the current just noticeable difference perceptual threshold, the proposed mathematical model helps improve the practicality of the bilateral teleoperation system without losing transparency.
KW - Algorithm
KW - Haptic Communication
KW - Kinesthetic Data
KW - LSTM Networks
KW - Bilateral Teleoperation
UR - http://www.scopus.com/inward/record.url?scp=85159692304&partnerID=8YFLogxK
U2 - 10.1109/JIOT.2023.3271603
DO - 10.1109/JIOT.2023.3271603
M3 - Article
VL - 10
SP - 16975
EP - 16988
JO - IEEE Internet of Things Journal
JF - IEEE Internet of Things Journal
IS - 19
ER -