Coding and decoding scheme for wide-band bilateral teleoperation

Abstract

Precise bilateral teleoperation based on wide-band signals enables an operator to achieve complicated tasks. A short sampling period is required for acquisition and transmission of wide-band signals. The sampling period is limited, however, when controllers are connected through a network. In this paper, a coding and decoding scheme for wide-band bilateral teleoperation is proposed. The method uses a low pass filter and discrete Fourier transform for the coding and inverse discrete Fourier transform for the decoding. High frequency signals can be transmitted even under severe limitation on the packet transmission rate. The scheme was verified through experiment with bilateral teleoperation. The validity of the proposed method was confirmed in terms of the transmission of wide-band signals and the reproduction of wide-band haptic sensation.