TOAST's Haptic Testbed

Haptic Codec & Teleoperation Testbed A testbed for exploring Kinesthetic and Tactile Codec using Perceptual Deadbands and Delay within a Virtual Environment. Overview This project implements a Client-Server Architecture compliant with the IEEE 1918.1.1 Standard for Haptic Codecs (Tactile Internet). It is designed to test compression algorithms and stability mechanisms in delayed teleoperation scenarios. Key Features 📉 Codecs & Compression Perceptual Deadbands: Fully tunable deadband coding for Position, Force, and Velocity. Tactile Coding: Implements VC-PWQ Coding for the efficient exchange of tactile signals. Simulated Delay: Both uplink and downlink delay can be simulated when running the testbed locally. 📡 Networking & Stability Hybrid Protocol Stack: UDP: Used for high-frequency exchange of Kinesthetic signals. TCP: Used for reliable exchange of Tactile signals. Time Delay Passivity (TDPA): Integrated Passivity Approach to ensure stable teleoperation even under network delay. 🎮 Hardware Compatibility The testbed features Automatic Force Scaling to ensure consistent feedback across different device workspaces. Kinesthetic Devices: Novint Falcon Force Dimension Omega.x 3D Systems Touch Tactile Devices: WEART TouchDiver 1 (renders received tactile signals) (Only compatible with Windows) 📊 Visualization Real-time Monitoring: Includes a live plotting interface to visualize tactile signals as they are transmitted and rendered. Delay Monitoring: Calculate both uplink and downlink delay and display it to the user