TY - GEN
T1 - TIM
T2 - 14th ACM/IEEE International Conference on Cyber-Physical Systems, with CPS-IoT Week 2023, ICCPS 2023
AU - Kroep, H. J.C.
AU - Gokhale, V.
AU - Simha, A.
AU - Prasad, R. R.Venkatesha
AU - Rao, V. S.
PY - 2023
Y1 - 2023
N2 - Tactile Internet (TI) envisions communicating haptic sensory information and kinesthetic feedback over the network and is expected to transfer human skills remotely. For mission-critical TI applications, the network latency is commonly mandated to be between 1-10 ms, due to the sensitivity of human touch, and the packet delivery ratio to be 99.99999%, failing which can lead to catastrophic outcomes. However, with humans-in-the-loop, their dexterity and adaptability to varying responses to stimuli under different network conditions, measuring the performance of a TI session only with latency and packet losses are insufficient and presents an incorrect representation of the experience of the TI application. To develop an objective measure of the quality of TI sessions, we propose a framework that models TI applications as networked control systems, including humans-in-the-loop. We derive a closed-form expression for measuring the difference between the application performance in ideal and non-ideal network conditions. Based on Weber’s law of Just Noticeable Difference, we provide a metric called TIM to estimate the impact of the network on haptic feedback. We implemented TIM on multiple applications on a TI testbed to show that our approach is feasible and TIM strongly follows real subjective measurements. Further, we propose a channel compensation spring based on TIM, to alleviate the network conditions’ negative effects. We demonstrate the efficacy of the channel compensation spring in improving the user experience. We also present implementation notes for TI application developers.
AB - Tactile Internet (TI) envisions communicating haptic sensory information and kinesthetic feedback over the network and is expected to transfer human skills remotely. For mission-critical TI applications, the network latency is commonly mandated to be between 1-10 ms, due to the sensitivity of human touch, and the packet delivery ratio to be 99.99999%, failing which can lead to catastrophic outcomes. However, with humans-in-the-loop, their dexterity and adaptability to varying responses to stimuli under different network conditions, measuring the performance of a TI session only with latency and packet losses are insufficient and presents an incorrect representation of the experience of the TI application. To develop an objective measure of the quality of TI sessions, we propose a framework that models TI applications as networked control systems, including humans-in-the-loop. We derive a closed-form expression for measuring the difference between the application performance in ideal and non-ideal network conditions. Based on Weber’s law of Just Noticeable Difference, we provide a metric called TIM to estimate the impact of the network on haptic feedback. We implemented TIM on multiple applications on a TI testbed to show that our approach is feasible and TIM strongly follows real subjective measurements. Further, we propose a channel compensation spring based on TIM, to alleviate the network conditions’ negative effects. We demonstrate the efficacy of the channel compensation spring in improving the user experience. We also present implementation notes for TI application developers.
KW - QoS
KW - Tactile internet
KW - teleoperation
KW - user experience
UR - http://www.scopus.com/inward/record.url?scp=85167871307&partnerID=8YFLogxK
U2 - 10.1145/3576841.3585917
DO - 10.1145/3576841.3585917
M3 - Conference contribution
AN - SCOPUS:85167871307
T3 - ICCPS 2023 - Proceedings of the 2023 ACM/IEEE 14th International Conference on Cyber-Physical Systems with CPS-IoT Week 2023
SP - 199
EP - 208
BT - ICCPS 2023 - Proceedings of the 2023 ACM/IEEE 14th International Conference on Cyber-Physical Systems with CPS-IoT Week 2023
PB - ACM
Y2 - 9 May 2023 through 12 May 2023
ER -