Transparency analysis and haptic synchronization for transparency of force-reflecting teleoperation

In this paper, we carry out a transparency analysis and propose a haptic synchronization scheme for force-reflecting teleoperations such as a telerobotic game over time-varying network delays. The transparency analysis quantifies the force feedback distortion caused by network delay and packet loss, and predicts the maximally allowable delay and loss for predefined transparency requirements. In order to minimize the force feedback distortion over time-varying network delays, the proposed haptic synchronization scheme controls the playout times of the transmitted haptic events based on the transparency analysis.