Haptic data compression based on delta-sigma modulator in quantized scaling-bilateral control

With the technological development of robotics, a bilateral control based on acquiring and rendering tactile sensation, which is one of the human five senses, enables human to manipulate by using wireless network. In order to realize the applications of haptic transmission as well as audio and visual information, the research field of haptic data compression will be considered. However, information volume is restricted by a communication bandwidth in the scaled haptic transmission provided from Shannon-Hartley theorem. Therefore, the purpose of this paper to clarify the compression method of haptic data by using a delta-sigma modulator in quantized scaling-bilateral control. In the proposed system, 1st-order delta-sigma modulator can be transformed as the high-pass filter and it is possible to suppress quantization error. To evaluate scaled haptic transmission, the hybrid parameters including the interference of quantization error are analyzed by the Bode diagrams. Finally, the experimental results show the stable operation as well as the improved performance to compress the position and force information.