{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,9,26]],"date-time":"2026-09-26T02:27:41Z","timestamp":1790389661533,"version":"4.1.0"},"reference-count":232,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"4","license":[{"start":{"date-parts":[[2018,1,1]],"date-time":"2018-01-01T00:00:00Z","timestamp":1514764800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"}],"funder":[{"DOI":"10.13039\/501100000266","name":"Engineering and Physical Sciences Research Council","doi-asserted-by":"publisher","award":["1667394"],"award-info":[{"award-number":["1667394"]}],"id":[{"id":"10.13039\/501100000266","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Ericsson 5G and Tactile Internet industry grant to King\u2019s College London"},{"DOI":"10.13039\/501100001659","name":"German Research Foundation","doi-asserted-by":"crossref","award":["STE 1093\/8-1"],"award-info":[{"award-number":["STE 1093\/8-1"]}],"id":[{"id":"10.13039\/501100001659","id-type":"DOI","asserted-by":"crossref"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Commun. Surv. Tutorials"],"published-print":{"date-parts":[[2018]]},"DOI":"10.1109\/comst.2018.2851452","type":"journal-article","created":{"date-parts":[[2018,6,28]],"date-time":"2018-06-28T14:46:34Z","timestamp":1530197194000},"page":"3034-3059","source":"Crossref","is-referenced-by-count":229,"title":["Toward Haptic Communications Over the 5G Tactile Internet"],"prefix":"10.1109","volume":"20","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-2703-8864","authenticated-orcid":false,"given":"Konstantinos","family":"Antonakoglou","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4375-3884","authenticated-orcid":false,"given":"Xiao","family":"Xu","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8853-2703","authenticated-orcid":false,"given":"Eckehard","family":"Steinbach","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2760-7139","authenticated-orcid":false,"given":"Toktam","family":"Mahmoodi","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9583-2923","authenticated-orcid":false,"given":"Mischa","family":"Dohler","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"263","reference":[{"key":"ref170","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2010.07.006"},{"key":"ref172","doi-asserted-by":"publisher","DOI":"10.1177\/0142331214530423"},{"key":"ref171","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2003.1249318"},{"key":"ref174","doi-asserted-by":"publisher","DOI":"10.1109\/INDIN.2013.6622906"},{"key":"ref173","doi-asserted-by":"publisher","DOI":"10.1177\/0278364909338770"},{"key":"ref176","first-page":"512","article-title":"Haptic data reduction for time-delayed teleoperation using the time domain passivity approach","author":"xu","year":"2015","journal-title":"Proc IEEE World Haptics Conf"},{"key":"ref175","first-page":"796","article-title":"Time delayed teleoperation system control, a passivity-based method","author":"hou","year":"2005","journal-title":"Proc 12th Int Conf Adv Robot (ICAR)"},{"key":"ref178","first-page":"177","article-title":"Network representation and passivity of delayed teleoperation systems","author":"artigas","year":"2011","journal-title":"Proc IEEE\/RSJ Int Conf Intell Robots Syst (IROS)"},{"key":"ref177","doi-asserted-by":"publisher","DOI":"10.1109\/TOH.2014.2363466"},{"key":"ref168","doi-asserted-by":"publisher","DOI":"10.1109\/70.988969"},{"key":"ref169","doi-asserted-by":"publisher","DOI":"10.1109\/TRA.2004.824689"},{"key":"ref39","doi-asserted-by":"crossref","first-page":"392","DOI":"10.1587\/transcom.E96.B.392","article-title":"QoS control and QoE assessment in multi-sensory communications with haptics","volume":"96","author":"huang","year":"2013","journal-title":"IEICE Trans Commun"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1007\/s12206-011-0523-8"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1049\/ip-cta:20050178"},{"key":"ref32","first-page":"1630","article-title":"QoS management of supermedia enhanced teleoperation via overlay networks","author":"cen","year":"2005","journal-title":"Proc IEEE\/RSJ Int Conf Intell Robots Syst (IROS)"},{"key":"ref31","first-page":"131","article-title":"A visual-haptic multiplexing scheme for teleoperation over constant-bitrate communication links","author":"cizmeci","year":"0","journal-title":"Haptics Neuroscience Devices Modeling and Applicant"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1016\/j.conengprac.2006.02.017"},{"key":"ref37","doi-asserted-by":"crossref","first-page":"28","DOI":"10.1109\/TOH.2009.45","article-title":"Effects of packet loss and latency on the temporal discrimination of visual-haptic events","volume":"3","author":"shi","year":"2010","journal-title":"IEEE Trans Haptics"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1109\/COMST.2014.2375213"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1007\/978-90-481-2505-0"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1109\/ICIT.2015.7125138"},{"key":"ref181","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2014.2317946"},{"key":"ref180","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2012.6385807"},{"key":"ref185","doi-asserted-by":"crossref","first-page":"625","DOI":"10.1007\/978-3-642-31401-8_55","article-title":"Stability of model-mediated teleoperation: Discussion and experiments","author":"willaert","year":"2012","journal-title":"Haptics Perception Devices Mobility and Communication"},{"key":"ref184","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2010.5653012"},{"key":"ref183","doi-asserted-by":"publisher","DOI":"10.1177\/0278364907084590"},{"key":"ref182","doi-asserted-by":"publisher","DOI":"10.1109\/JPROC.2011.2175150"},{"key":"ref189","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2005.852261"},{"key":"ref188","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2007.893072"},{"key":"ref187","doi-asserted-by":"publisher","DOI":"10.1109\/TSMCB.2003.811756"},{"key":"ref186","doi-asserted-by":"publisher","DOI":"10.1109\/ICMEW.2015.7169831"},{"key":"ref28","first-page":"129","article-title":"The effect of haptic degrees of freedom on task performance in virtual surgical environments","volume":"184","author":"forsslund","year":"2013","journal-title":"MMVR"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/JPROC.2011.2182100"},{"key":"ref179","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2004.833648"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/TOH.2012.62"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2015.07.015"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1994.351077"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1007\/s00530-007-0102-0"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1002\/(SICI)1097-4563(199701)14:1<37::AID-ROB4>3.0.CO;2-V"},{"key":"ref23","first-page":"353","article-title":"Human factors for the design of force-reflecting haptic interfaces","volume":"55","author":"tan","year":"1994","journal-title":"Proceedings of the Haptic Interfaces for Virtual Environment and Teleoperator Systems"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2005.862487"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2005.851377"},{"key":"ref50","doi-asserted-by":"publisher","DOI":"10.1109\/HAVE.2006.283778"},{"key":"ref51","first-page":"1329","article-title":"A study on the effect of haptic to video time-delay on teleoperation and a comment for improving the performance","author":"kim","year":"2011","journal-title":"Proc 11th Int Conf Control Autom Syst (ICCAS)"},{"key":"ref154","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2008.2006181"},{"key":"ref153","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2006.281916"},{"key":"ref156","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2009.5354459"},{"key":"ref155","doi-asserted-by":"crossref","first-page":"321","DOI":"10.1109\/TMECH.2009.2020733","article-title":"Improving trajectory tracking in wave-variable-based teleoperation","volume":"15","author":"ye","year":"2010","journal-title":"IEEE\/ASME Trans Mechatronics"},{"key":"ref150","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1998.680592"},{"key":"ref152","first-page":"1449","article-title":"Wave-based time delay compensation in bilateral teleoperation: Two-channel versus four-channel architectures","author":"aziminejad","year":"2007","journal-title":"Proc Amer Control Conf (ACC)"},{"key":"ref151","doi-asserted-by":"publisher","DOI":"10.1016\/j.arcontrol.2014.03.002"},{"key":"ref146","first-page":"311","article-title":"Sliding-mode controller for bilateral teleoperation with varying time delay","author":"park","year":"1999","journal-title":"Proc IEEE\/ASME Int Conf Adv Intell Mechatronics"},{"key":"ref147","doi-asserted-by":"publisher","DOI":"10.1109\/JRPROC.1952.273783"},{"key":"ref148","doi-asserted-by":"publisher","DOI":"10.1109\/TOH.2015.2457927"},{"key":"ref149","doi-asserted-by":"publisher","DOI":"10.1109\/48.64895"},{"key":"ref59","doi-asserted-by":"publisher","DOI":"10.1109\/HAVE.2007.4371595"},{"key":"ref58","doi-asserted-by":"publisher","DOI":"10.1109\/ICCSII.2012.6454426"},{"key":"ref57","doi-asserted-by":"publisher","DOI":"10.1109\/ISM.2014.65"},{"key":"ref56","doi-asserted-by":"publisher","DOI":"10.1109\/BMSB.2013.6621691"},{"key":"ref55","doi-asserted-by":"publisher","DOI":"10.1109\/6046.909602"},{"key":"ref54","doi-asserted-by":"publisher","DOI":"10.1109\/HAPTIC.2010.5444637"},{"key":"ref53","doi-asserted-by":"publisher","DOI":"10.1109\/TMM.2014.2371240"},{"key":"ref52","doi-asserted-by":"publisher","DOI":"10.1109\/TMM.2015.2431915"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1109\/HAVE.2012.6374436"},{"key":"ref167","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2010.07.009"},{"key":"ref166","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2007.363559"},{"key":"ref165","doi-asserted-by":"publisher","DOI":"10.3182\/20080706-5-KR-1001.02646"},{"key":"ref164","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2006.878942"},{"key":"ref163","first-page":"115","article-title":"Correction of position error in Internet-based teleoperation","author":"muj?i?","year":"2012","journal-title":"20th Telecommunications Forum (TELFOR)"},{"key":"ref162","doi-asserted-by":"publisher","DOI":"10.1109\/AIM.2001.936428"},{"key":"ref161","doi-asserted-by":"publisher","DOI":"10.1007\/s00521-014-1606-0"},{"key":"ref160","doi-asserted-by":"publisher","DOI":"10.1109\/HAPTIC.2002.998970"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/MMUL.2009.42"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/JSAC.2016.2525398"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/70.258054"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.3758\/APP.71.7.1439"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/COMST.2016.2532458"},{"key":"ref159","doi-asserted-by":"publisher","DOI":"10.1109\/ISIC.2002.1157785"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/MCOM.2016.7470948"},{"key":"ref49","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-69057-3_1"},{"key":"ref157","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2013.2289076"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2003.1238654"},{"key":"ref158","doi-asserted-by":"publisher","DOI":"10.1109\/SICE.2006.314715"},{"key":"ref46","doi-asserted-by":"publisher","DOI":"10.1109\/ICNSC.2005.1461342"},{"key":"ref45","first-page":"191","article-title":"Transport layer protocols for telehaptics update messages","author":"dodeller","year":"2004","journal-title":"22nd Biennial Symp on Communications Queen&#x2019;s University"},{"key":"ref48","doi-asserted-by":"publisher","DOI":"10.1109\/AMC.2002.1026892"},{"key":"ref47","doi-asserted-by":"publisher","DOI":"10.1007\/11422778_126"},{"key":"ref42","doi-asserted-by":"publisher","DOI":"10.1109\/PCi.2012.54"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.4108\/ICST.IMMERSCOM2007.2076"},{"key":"ref44","doi-asserted-by":"publisher","DOI":"10.1109\/SII.2011.6147501"},{"key":"ref43","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-19557-5_4"},{"key":"ref73","doi-asserted-by":"publisher","DOI":"10.1109\/JPROC.2017.2780172"},{"key":"ref72","doi-asserted-by":"publisher","DOI":"10.1109\/JSYST.2015.2422992"},{"key":"ref71","doi-asserted-by":"publisher","DOI":"10.1109\/MCS.2014.2364708"},{"key":"ref70","doi-asserted-by":"publisher","DOI":"10.1109\/IWQoS.2015.7404730"},{"key":"ref76","doi-asserted-by":"publisher","DOI":"10.1109\/VRAIS.1993.380769"},{"key":"ref77","doi-asserted-by":"publisher","DOI":"10.1109\/ACC.2002.1025251"},{"key":"ref74","doi-asserted-by":"publisher","DOI":"10.1109\/ICSMC.1990.142071"},{"key":"ref75","doi-asserted-by":"publisher","DOI":"10.1109\/VRAIS.1993.380770"},{"key":"ref78","doi-asserted-by":"publisher","DOI":"10.1109\/ICASSP.2005.1415600"},{"key":"ref79","doi-asserted-by":"publisher","DOI":"10.1109\/TSP.2007.906746"},{"key":"ref60","doi-asserted-by":"publisher","DOI":"10.1109\/TIM.2010.2065530"},{"key":"ref62","doi-asserted-by":"publisher","DOI":"10.1109\/NCC.2015.7084908"},{"key":"ref61","first-page":"1","article-title":"Preliminary protocol for interoperable telesurgery","author":"king","year":"2009","journal-title":"Proc Int Conf Adv Robot"},{"key":"ref63","first-page":"1409","article-title":"Supermedia transport for teleoperations over overlay networks","author":"cen","year":"2005","journal-title":"Proc 4th Int IFIP-TC6 Netw Conf Netw Technol Services Protocols Perform Comput Commun Netw Mobile Wireless Commun Syst NETWORKING"},{"key":"ref64","doi-asserted-by":"publisher","DOI":"10.1016\/j.csi.2011.09.001"},{"key":"ref65","doi-asserted-by":"publisher","DOI":"10.1109\/INFCOMW.2011.5928905"},{"key":"ref66","doi-asserted-by":"publisher","DOI":"10.17487\/rfc1633"},{"key":"ref67","doi-asserted-by":"publisher","DOI":"10.17487\/rfc2474"},{"key":"ref68","doi-asserted-by":"publisher","DOI":"10.1109\/JPROC.2014.2371999"},{"key":"ref69","doi-asserted-by":"publisher","DOI":"10.1109\/ICCW.2016.7503828"},{"key":"ref197","doi-asserted-by":"publisher","DOI":"10.1109\/WHC.2009.4810803"},{"key":"ref198","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2008.4543311"},{"key":"ref199","doi-asserted-by":"publisher","DOI":"10.1109\/HAVE.2006.283795"},{"key":"ref193","doi-asserted-by":"publisher","DOI":"10.1109\/TNN.2003.809424"},{"key":"ref194","doi-asserted-by":"publisher","DOI":"10.1109\/ICMA.2005.1626803"},{"key":"ref195","doi-asserted-by":"publisher","DOI":"10.1109\/AIM.1999.803183"},{"key":"ref196","first-page":"1","article-title":"Predictive algorithms for distant touching","author":"belghit","year":"2002","journal-title":"Proc Eurohaptics"},{"key":"ref95","doi-asserted-by":"publisher","DOI":"10.4304\/jsw.9.11.2796-2803"},{"key":"ref94","doi-asserted-by":"publisher","DOI":"10.1109\/ICME.2007.4285132"},{"key":"ref190","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2008.4650575"},{"key":"ref93","doi-asserted-by":"publisher","DOI":"10.1109\/ICASSP.2006.1661315"},{"key":"ref191","doi-asserted-by":"publisher","DOI":"10.1109\/ICMEW.2014.6890578"},{"key":"ref92","doi-asserted-by":"publisher","DOI":"10.1109\/ICCE.2006.1598291"},{"key":"ref192","doi-asserted-by":"publisher","DOI":"10.1109\/HAVE.2015.7359474"},{"key":"ref91","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1145\/2670533","article-title":"Design and analysis of predictive sampling of haptic signals","volume":"11","author":"bhardwaj","year":"2014","journal-title":"ACM Trans Appl Percept"},{"key":"ref90","doi-asserted-by":"publisher","DOI":"10.1109\/ITA.2013.6502929"},{"key":"ref98","doi-asserted-by":"publisher","DOI":"10.1109\/TVCG.2006.32"},{"key":"ref99","doi-asserted-by":"publisher","DOI":"10.1109\/HAPTIC.2010.5444665"},{"key":"ref96","doi-asserted-by":"publisher","DOI":"10.1109\/HAVE.2011.6088394"},{"key":"ref97","doi-asserted-by":"publisher","DOI":"10.1109\/SMC.2014.6974553"},{"key":"ref82","first-page":"1","article-title":"Haptic data compression\/decompression using DCT for motion copy system","author":"tanaka","year":"2009","journal-title":"Proc IEEE Int Conf Mechatronics (ICM)"},{"key":"ref81","doi-asserted-by":"publisher","DOI":"10.1109\/ICC.2008.350"},{"key":"ref84","doi-asserted-by":"publisher","DOI":"10.1109\/MSP.2010.938753"},{"key":"ref83","doi-asserted-by":"publisher","DOI":"10.1177\/0959651815575438"},{"key":"ref80","doi-asserted-by":"publisher","DOI":"10.1109\/ICME.2002.1035867"},{"key":"ref89","doi-asserted-by":"publisher","DOI":"10.1109\/WHC.2009.4810839"},{"key":"ref85","doi-asserted-by":"publisher","DOI":"10.1109\/HAVE.2008.4685302"},{"key":"ref86","author":"weber","year":"1834","journal-title":"De pulsu resorptione auditu et tactu annotationes anatomicae et physiologicae"},{"key":"ref87","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-31404-9_1"},{"key":"ref88","doi-asserted-by":"publisher","DOI":"10.1109\/HAPTIC.2002.998972"},{"key":"ref200","doi-asserted-by":"publisher","DOI":"10.1109\/TIM.2014.2323139"},{"key":"ref101","doi-asserted-by":"crossref","first-page":"245","DOI":"10.1007\/978-3-642-19457-3_15","article-title":"Haptography: Capturing and recreating the rich feel of real surfaces","volume":"70","author":"kuchenbecker","year":"2009","journal-title":"Proc Int Symp Robot Res"},{"key":"ref100","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1998.677050"},{"key":"ref209","doi-asserted-by":"publisher","DOI":"10.1016\/j.arcontrol.2016.09.003"},{"key":"ref203","doi-asserted-by":"publisher","DOI":"10.1109\/ISIE.2008.4677232"},{"key":"ref204","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2012.2189398"},{"key":"ref201","doi-asserted-by":"publisher","DOI":"10.1109\/HAVE.2012.6374429"},{"key":"ref202","doi-asserted-by":"publisher","DOI":"10.1109\/ICRoM.2014.6990891"},{"key":"ref207","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2015.7354112"},{"key":"ref208","doi-asserted-by":"publisher","DOI":"10.1109\/HAPTICS.2016.7463183"},{"key":"ref205","doi-asserted-by":"publisher","DOI":"10.1109\/ICMECH.2017.7921106"},{"key":"ref206","doi-asserted-by":"publisher","DOI":"10.1109\/ICIEA.2014.6931237"},{"key":"ref211","doi-asserted-by":"publisher","DOI":"10.1109\/WHC.2009.4810811"},{"key":"ref210","doi-asserted-by":"publisher","DOI":"10.1162\/pres.16.5.532"},{"key":"ref212","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2017.2685687"},{"key":"ref213","doi-asserted-by":"publisher","DOI":"10.1145\/2307636.2307658"},{"key":"ref214","article-title":"Feasibility study on new services and markeets technology enablers for critical communications; stage 1, release 14","year":"2016"},{"key":"ref215","article-title":"Study on new services and markets technology enablers, release 14","year":"2016"},{"key":"ref216","doi-asserted-by":"publisher","DOI":"10.1109\/MVT.2014.2333765"},{"key":"ref217","article-title":"On using a SDN-based control plane in 5G mobile networks","author":"mahmoodi","year":"0"},{"key":"ref218","doi-asserted-by":"publisher","DOI":"10.1109\/GLOCOMW.2015.7414151"},{"key":"ref219","doi-asserted-by":"publisher","DOI":"10.1109\/ICC.2014.6883806"},{"key":"ref220","first-page":"34","article-title":"SDN-based data offloading for 5G mobile networks","volume":"2","author":"amani","year":"2014","journal-title":"ZTE Commun Mag"},{"key":"ref222","doi-asserted-by":"publisher","DOI":"10.1109\/MoNeTeC.2014.6995601"},{"key":"ref221","doi-asserted-by":"publisher","DOI":"10.4108\/icst.5gu.2014.258133"},{"key":"ref229","doi-asserted-by":"publisher","DOI":"10.1109\/IC3I.2016.7918055"},{"key":"ref228","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2017.2707319"},{"key":"ref227","first-page":"1","article-title":"Towards 5G-enabled tactile Internet: Radio resource allocation for haptic communications","author":"aijaz","year":"2016","journal-title":"Proc IEEE Wireless Commun Netw Conf Doha Qatar"},{"key":"ref226","doi-asserted-by":"publisher","DOI":"10.1109\/GLOCOMW.2016.7848982"},{"key":"ref225","doi-asserted-by":"publisher","DOI":"10.1109\/SECONW.2017.8011041"},{"key":"ref224","doi-asserted-by":"publisher","DOI":"10.23919\/ICACT.2017.7890208"},{"key":"ref223","doi-asserted-by":"publisher","DOI":"10.1109\/EIConRusNW.2015.7102233"},{"key":"ref127","doi-asserted-by":"publisher","DOI":"10.1109\/70.88057"},{"key":"ref126","doi-asserted-by":"publisher","DOI":"10.1109\/ICSMC.1989.71268"},{"key":"ref125","doi-asserted-by":"publisher","DOI":"10.1109\/WHC.2013.6548491"},{"key":"ref124","doi-asserted-by":"publisher","DOI":"10.1109\/9.24201"},{"key":"ref129","author":"slotine","year":"1991","journal-title":"Applied nonlinear control"},{"key":"ref128","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2003.1242098"},{"key":"ref130","doi-asserted-by":"publisher","DOI":"10.1016\/j.conengprac.2015.03.004"},{"key":"ref133","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.921565"},{"key":"ref134","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2012.08.010"},{"key":"ref131","doi-asserted-by":"crossref","first-page":"485","DOI":"10.1016\/j.automatica.2011.01.004","article-title":"Passivity-based control for bilateral teleoperation: A tutorial","volume":"47","author":"nu\u00f1o","year":"2011","journal-title":"Automatica"},{"key":"ref132","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2005.852259"},{"key":"ref232","year":"2014","journal-title":"The Tactile Internet ITU-T Technology Watch Report"},{"key":"ref230","doi-asserted-by":"publisher","DOI":"10.1109\/COMST.2017.2694140"},{"key":"ref231","first-page":"1","article-title":"Towards the tactile Internet: Decreasing communication latency with network coding and software defined networking","author":"szabo","year":"2015","journal-title":"Proc 21th Euro Wireless Conf"},{"key":"ref136","doi-asserted-by":"publisher","DOI":"10.1109\/70.345941"},{"key":"ref135","doi-asserted-by":"publisher","DOI":"10.1109\/CCDC.2015.7162505"},{"key":"ref138","doi-asserted-by":"publisher","DOI":"10.1109\/CCECE.2004.1347575"},{"key":"ref137","doi-asserted-by":"publisher","DOI":"10.1093\/imamci\/dnt005"},{"key":"ref139","doi-asserted-by":"publisher","DOI":"10.1109\/TFUZZ.2011.2143417"},{"key":"ref140","doi-asserted-by":"crossref","first-page":"481","DOI":"10.1007\/s11071-015-2006-4","article-title":"Synchronization control for bilateral teleoperation system with prescribed performance under asymmetric time delay","volume":"81","author":"yang","year":"2015","journal-title":"Nonlin Dyn"},{"key":"ref141","doi-asserted-by":"publisher","DOI":"10.1109\/ACC.2012.6315164"},{"key":"ref142","doi-asserted-by":"publisher","DOI":"10.1109\/WHC.2015.7177728"},{"key":"ref143","doi-asserted-by":"publisher","DOI":"10.1109\/ICMECH.2015.7084038"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/MWC.2016.1500157RP"},{"key":"ref144","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2009.2028337"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/MVT.2013.2295069"},{"key":"ref145","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2012.2183832"},{"key":"ref109","doi-asserted-by":"publisher","DOI":"10.1109\/JSTSP.2014.2374574"},{"key":"ref108","year":"1996","journal-title":"Coding of Speech at 8 Kbit\/s Using Conjugate-Structure Algebraic-Code-Excited Linear-Prediction (CS-ACELP) Reduced Complexity 8 Kbit\/s CS-ACELP Speech Codec Annex A"},{"key":"ref107","doi-asserted-by":"publisher","DOI":"10.1145\/2393347.2393407"},{"key":"ref106","doi-asserted-by":"crossref","first-page":"43","DOI":"10.1007\/978-3-642-31404-9_8","article-title":"Just noticeable differences of low-intensity vibrotactile forces at the fingertip","author":"hatzfeld","year":"2012","journal-title":"Haptics Perception Devices Mobility and Communication"},{"key":"ref105","doi-asserted-by":"crossref","first-page":"297","DOI":"10.1007\/s00530-007-0105-x","article-title":"Vibrotactile perception: Examining the coding of vibrations and the just noticeable difference under various conditions","volume":"13","author":"pongrac","year":"2008","journal-title":"Multimedia Syst"},{"key":"ref104","doi-asserted-by":"publisher","DOI":"10.3758\/BF03210362"},{"key":"ref103","doi-asserted-by":"publisher","DOI":"10.1109\/SII.2010.5708356"},{"key":"ref102","doi-asserted-by":"publisher","DOI":"10.1109\/TIM.2010.2065751"},{"key":"ref111","doi-asserted-by":"publisher","DOI":"10.1109\/ICME.2011.6012159"},{"key":"ref112","first-page":"1","article-title":"Challenges and opportunities for designing tactile codecs from audio codecs","author":"liu","year":"2017","journal-title":"Proc Eur Conf Netw Commun (EuCNC)"},{"key":"ref110","author":"zwicker","year":"1967","journal-title":"Das Ohr als Nachrichtenempf&#x00E4 nger"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/DS-RT.2004.8"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2006.06.027"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-19557-5"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/70.258052"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/ICARSC.2015.40"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2017.2764181"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1002\/rcs.1637"},{"key":"ref118","doi-asserted-by":"publisher","DOI":"10.1109\/CCA.2005.1507305"},{"key":"ref17","first-page":"3541","article-title":"Pushing the limits of the CyberGraspTM for haptic rendering","author":"aiple","year":"2013","journal-title":"Proc IEEE Int Conf Robot Autom (ICRA)"},{"key":"ref117","first-page":"366","article-title":"Bilateral teleoperation of multiple cooperative robots over delayed communication networks: Application","author":"lee","year":"2005","journal-title":"Proc IEEE Int Conf Robot Autom (ICRA)"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/WHC.2007.105"},{"key":"ref19","year":"2018","journal-title":"Gloveone"},{"key":"ref119","doi-asserted-by":"publisher","DOI":"10.1109\/RAMECH.2006.252733"},{"key":"ref114","doi-asserted-by":"publisher","DOI":"10.1109\/THMS.2014.2303983"},{"key":"ref113","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2013.6697144"},{"key":"ref116","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2010.04.005"},{"key":"ref115","doi-asserted-by":"publisher","DOI":"10.1016\/S0921-8890(01)00164-6"},{"key":"ref120","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5980362"},{"key":"ref121","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2000.845141"},{"key":"ref122","doi-asserted-by":"publisher","DOI":"10.1109\/AMC.2004.1297669"},{"key":"ref123","doi-asserted-by":"publisher","DOI":"10.1109\/HAVE.2011.6088392"}],"container-title":["IEEE Communications Surveys &amp; Tutorials"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/9739\/8540503\/08399482.pdf?arnumber=8399482","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,1,26]],"date-time":"2022-01-26T21:40:48Z","timestamp":1643233248000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/8399482\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2018]]},"references-count":232,"journal-issue":{"issue":"4"},"URL":"https:\/\/doi.org\/10.1109\/comst.2018.2851452","relation":{},"ISSN":["1553-877X","2373-745X"],"issn-type":[{"value":"1553-877X","type":"electronic"},{"value":"2373-745X","type":"electronic"}],"subject":[],"published":{"date-parts":[[2018]]}}}