抄録
The objective of this study is to achieve precise bilateral teleoperation with wide-band haptic sensations even under limitation on a packet transmission rate. Because a wide-band signal is essential for the reproduction of wide-band haptic sensation, a coding scheme using a low-pass filter and discrete Fourier transform was applied to signal transmission between the master and the slave to transmit the wide-band signal independently from the packet transmission rate. Although the bandwidth is widened with a small delay, the calculation cost and the transmission packet size increase with the scheme. A method for reducing the calculation cost and the transmission packet size while maintaining high performance was then proposed on the basis of the analysis on the influence of the bandwidth limitation of each signal on the bilateral teleoperation performance. In this method, the bandwidth of the transmission signal is determined independently for each signal on the basis of the degree of the influence, and priority is given to the transmission of wide-band components of a signal on which bandwidth limitation imposes a large influence. The validity of the proposed method was experimentally verified.
