IEEE P1918.1.1 - Haptic Codecs for the Tactile Internet


This standard provides haptic codecs for the Tactile Internet enabling the interoperability of different haptic (kinesthetic and tactile) input and output devices. Such interoperability is necessary to achieve necessary market scale in the realization of Tactile Internet technologies, devices and applications. This standard defines haptic codecs for the Tactile Internet (TI). These codecs address TI application scenarios where the human is in the loop (i.e. teleoperation or remote touch applications) as well as scenarios that rely on machine remote control. The standard defines (perceptual) data reduction algorithms and schemes for both closed-loop (kinesthetic information exchange) and open-loop (tactile information exchange) communication. These codecs are designed such that they can be combined with stabilizing control and local communication architectures for time-delayed teleoperation. Further, the standard also specifies mechanisms and protocols for the exchange of the capabilities (e.g. workspace, the number of degrees of freedom, amplitude range, temporal and spatial resolution, etc.) of the haptic devices.

Reference software for closed-loop kinesthetic information exchange

Link for the download of reference hardware/software setup:

Link for the download of recorded data traces using the reference setup:

IEEE P1918.1.1 Call for contributions: Part 1 (kinesthetic codec)

IEEE P1918.1.1 Call for contributions: Part 3 (kinesthetic codec with delay)

Tactile Reference Setup

Link for the download of reference hardware setup:

Link for the download of recorded tactile reference data traces:

IEEE P1918.1.1 Call for contributions: Part 2 (tactile codec)

Overview papers

  1. E. Steinbach, M. Strese, M. Eid, X. Liu, A. Bhardwaj, Q. Liu, T. Mahmoodi, R. Hassen, A. El Saddik, O. Holland,
    Haptic Codecs for the Tactile Internet, Proceedings of the IEEE, Special Issue on Tactile Internet, vol. 107, no. 2, pp. 447-470, February 2019
  2. P. Hinterseer, S. Hirche, S. Chaudhuri, E. Steinbach, M. Buss,
    Perception-based Data Reduction and Transmission of Haptic Data in Telepresence and Teleaction Systems, IEEE Transactions on Signal Processing, vol. 56, no. 2, pp. 588-597, February 2008.
  3. X. Xu, C. Schuwerk, B. Cizmeci, E. Steinbach,
    Energy Prediction for Teleoperation Systems that Combine the Time Domain Passivity Approach with Perceptual Deadband-based Haptic Data Reduction, IEEE Transactions on Haptics, vol. 9, no. 4, pp. 560-573, October 2016.
  4. X. Xu, B. Cizmeci, C. Schuwerk, E. Steinbach,
    Haptic Data Reduction for Time-delayed Teleoperation Using the Time Domain Passivity Approach, IEEE World Haptics Conference, June 2015.
  5. J. Kirsch, A. Noll, M. Strese, Q. Liu, E. Steinbach,
    A Low-Cost Acquisition, Display, and Evaluation Setup for Tactile Codec Development, IEEE Int. Symposium on Haptic Audio-Visual Environments and Games (HAVE’18), Dalian, China, September 2018.
  6. A. Bhardwaj, B. Cizmeci, E. Steinbach, Q. Liu, M. Eid, J. Araujo, A. El Saddik, R. Kundu, X. Liu, O. Holland, M. Luden, S. Oteafy, V. Prasad,  
    A Candidate Hardware and Software Reference Setup for Kinesthetic Codec Standardization, IEEE Int. Symposium on Haptic, Audio and Visual Environments and Games (HAVE_17), Abu Dhabi, United Arab Emirates, October 2017.
  7. O. Holland, E. Steinbach, V. Prasad, Q. Liu, Z. Dawy, A. Aijaz, N. Pappas, K. Chandra, V. Rao, S. Oteafy, M. Eid, M. Luden, A. Bhardwaj, X. Liu, J. Sachs, J. Araujo,
    The IEEE 1918.1 Tactile Internet Standards Working Group and its Standards, Proceedings of the IEEE, vol. 107, no. 2, pp. 256 – 279, February 2019.
  8. Xiao Xu, E. Steinbach,
    Elimination of Cross-dimensional Artifacts in the Multi-Dof Time Domain Passivity Approach for Time-delayed Teleoperation with Haptic Feedback, IEEE World Haptics Conference (best paper award), July 2019.
  9. Xiao Xu, Michael Panzirsch, Qian Liu, Eckehard Steinbach,
    Integrating Haptic Data Reduction with Energy Reflection Based Passivity Control for Time-delayed Teleoperation, IEEE Haptics Symposium, March 2020.