# US 11,113,934 B2 · Encoding/decoding apparatuses and methods for encoding/decoding vibrotactile signals > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,113,934 B2 - Document ID: US11113934B2 - Status: Granted - Kind: B2 - Application number: 16/833,403 - Filed: 2020-03-27 - Published: 2020-10-01 - Granted: 2021-09-07 - Earliest claimed: 2019-03-29 - Assignees: Technische Universität München - Applicants: Technische Universität München - Inventors: Andreas Noll; Basak Gülecyüz; Eckehard Steinbach - Web page: https://patentgrep.com/patent/US11113934B2 ## CPC - G08B 6/00: Tactile signalling systems, e.g. tactile personal calling systems - H03M 7/3062: {Compressive sampling or sensing} - G06F 3/016: {Input arrangements with force or tactile feedback as computer generated output to the user} - H03M 7/30: Compression (speech analysis-synthesis for redundancy reduction G10L19/00; for image communication H04N); Expansion; Suppression of unnecessary data, e.g. redundancy reduction - H03M 7/3066: {by means of a mask or a bit-map} - H03M 7/6047: {Power optimization with respect to the encoder, decoder, storage or transmission} - G08B: SIGNALLING SYSTEMS, e.g. PERSONAL CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS - H03M: CODING; DECODING; CODE CONVERSION IN GENERAL (using fluidic means F15C4/00; optical analogue/digital converters G02F7/00; coding, decoding or code conversion, specially adapted for particular applications, see the relevant subclasses, e.g. G01D, G01R, G06F, G06T, G09G, G10L, G11B, G11C, H04B, H04L, H04M, H04N; ciphering or deciphering for cryptography or other purposes involving the need for secrecy G09C) - G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N) ## Abstract An encoding apparatus for encoding a vibrotactile signal includes a first transforming unit configured to perform a discrete wavelet transform of the signal, a second transforming unit configured to generate a frequency domain representation of the signal, a psychohaptic model unit configured to generate at least one quantization control signal based on the generated frequency domain representation of the sampled signal and on a predetermined perceptual model based on human haptic perception, a quantization unit configured to quantize wavelet coefficients resulting from the performed discrete wavelet transform and adapted by the quantization control signal, a compression unit configured to compress the quantized wavelet coefficients, and a bitstream generating unit configured to generate a bitstream corresponding to the encoded signal based on the compressed quantized wavelet coefficients. The subject matter described herein also includes a corresponding decoding unit, an encoding method and a decoding method. ## Claims ### Claim 1 An encoding apparatus for encoding a vibrotactile signal, comprising: a) a first transforming unit configured to perform a discrete wavelet transform of the signal; b) a second transforming unit configured to generate a frequency domain representation of the signal; c) a psychohaptic model unit configured to generate at least one quantization control signal based on the generated frequency domain representation of the sampled signal and on a predetermined perceptual model based on human haptic perception, wherein the psychohaptic model unit is configured to identify peaks in the signal spectrum, wherein each peak corresponds to a frequency and a magnitude, and wherein psychohaptic model unit comprises a memory adapted to store the frequency and magnitude of each identified peak; d) a quantization unit configured to quantize wavelet coefficients resulting from the performed discrete wavelet transform and adapted by the quantization control signal; e) a compression unit configured to compress the quantized wavelet coefficients; and f) a bitstream generating unit configured to generate a bitstream corresponding to the encoded signal based on the compressed quantized wavelet coefficients. ### Claim 2 (depends on 1) The encoding apparatus according to claim 1 further comprising a block unit configured to split the vibrotactile signal into a plurality of consecutive blocks. ### Claim 3 (depends on 1) The encoding apparatus according to claim 1 wherein the first transforming unit is adapted to perform the discrete wavelet transform by using a biorthogonal wavelet that comprises at least one of a Cohen-Daubechies-Feauveau-wavelet and a 9/7-Cohen-Daubechies-Feauveau-wavelet. ### Claim 4 (depends on 1) The encoding apparatus according to claim 1, wherein the second transforming unit is configured to generate the frequency domain representation by using a discrete Fourier transform, a fast Fourier transform, a discrete cosine transform or a discrete sine transform of the sampled signal. ### Claim 5 (depends on 1) A transmitter in a communication system comprising the encoding apparatus according to claim 1. ### Claim 6 (depends on 1) The encoding apparatus according to claim 1, wherein the psychohaptic model unit is configured to compute a masking threshold for the peaks at different frequencies based on the frequency and magnitude of each peak. ### Claim 7 (depends on 1) The encoding apparatus according to claim 1, wherein the psychohaptic model unit is further configured to compute an absolute threshold of perception at different frequencies which corresponds to an average signal magnitude required for human at a certain frequency to be able to perceive a signal. ### Claim 8 (depends on 7) The encoding apparatus according to claim 7, wherein the psychohaptic model unit is further configured to compute a global masking threshold based on the masking threshold and the absolute threshold. ### Claim 9 (depends on 8) The encoding apparatus according to claim 8, wherein the psychohaptic model unit is configured to compute a signal-to-mask-ratio based on the sum of the energy of the global masking threshold at different frequencies and on the energy of the signal, in particular to compute the signal-to-mask-ratio for each frequency band of the wavelet coefficients of the discrete wavelet transform. ### Claim 10 (depends on 9) The encoding apparatus according to claim 9, wherein the quantization unit is configured to quantize wavelet coefficients by allocating bits for each frequency band of the wavelet coefficients based on a mask-to-noise-ratio, wherein the mask-to-noise-ratio is computed based on the signal-to-mask-ratio and a signal-to-noise-ratio which is computed based on the energy of the signal and the energy of a noise introduced by the quantization. ### Claim 11 (depends on 1) The encoding apparatus according to claim 1, wherein the compression unit is adapted to use an algorithm based on set partitioning in hierarchical trees for the compression of wavelet coefficients. ### Claim 12 (depends on 1) The encoding apparatus according to claim 1, wherein the quantization unit is configured to be adapted by the quantization control signal such that the distortion introduced during the quantization of the sampled signal in different frequency ranges is, relative to a perception masking threshold of the perception model, not perceivable by a human. ### Claim 13 (depends on 1) The encoding apparatus according to claim 1, wherein the quantization unit comprises an embedded deadzone quantizer. ### Claim 14 A decoding apparatus for decoding a vibrotactile signal from a bitstream, comprising: a) a decompression unit configured to decompress the bitstream, wherein in particular an algorithm based on inverse set partitioning in hierarchical trees is provided for the decompression; b) a dequantization unit configured to dequantize the decompressed bitstream, wherein the decompressed bitstream is quantized using a psychohaptic model unit configured to generate at least one quantization control signal based on a frequency domain representation of a sampled signal and on a predetermined perceptual model based on human haptic perception, wherein the psychohaptic model unit is configured to identify peaks in the signal spectrum, wherein each peak corresponds to a frequency and a magnitude, and wherein psychohaptic model unit comprises a memory adapted to store the frequency and magnitude of each identified peak; and a third transforming unit configured to perform an inverse discrete wavelet transform of the dequantized bitstream. ### Claim 15 (depends on 14) A receiver in a communication system comprising the decoding apparatus according to claim 14. ### Claim 16 An encoding method for encoding a vibrotactile signal, comprising: a) performing a discrete wavelet transform of the signal; b) generating a frequency domain representation of the signal; c) generating at least one quantization control signal based on the generated frequency domain representation of the signal and on a predetermined perceptual model based on human haptic perception, wherein generating the quantization control signal includes using a psychohaptic model unit to identify peaks in the signal spectrum, wherein each peak corresponds to a frequency and a magnitude, and wherein psychohaptic model unit comprises a memory adapted to store the frequency and magnitude of each identified peak; d) quantizing wavelet coefficients resulting from the performed discrete wavelet transform and adapted by the quantization control signal; e) compressing the quantized wavelet coefficients; and f) generating a bitstream corresponding to the encoded signal based on the compressed quantized wavelet coefficients. ### Claim 17 (depends on 16) A computer program product comprising computer-executable instructions embodied in a non-transitory computer-readable medium which, when is executed by a processor of a computer, cause the computer to carry out the method of claim 16. ### Claim 18 A decoding method for decoding a vibrotactile signal from a bitstream, comprising: a) decompressing the bitstream, wherein in an algorithm based on inverse set partitioning in hierarchical trees is provided for the decompression; b) dequantizing the decompressed bitstream, wherein the decompressed bitstream is quantized using a psychohaptic model unit configured to generate at least one quantization control signal based on a frequency domain representation of a sampled signal and on a predetermined perceptual model based on human haptic perception, wherein the psychohaptic model unit is configured to identify peaks in the signal spectrum, wherein each peak corresponds to a frequency and a magnitude, and wherein psychohaptic model unit comprises a memory adapted to store the frequency and magnitude of each identified peak; and c) performing an inverse discrete wavelet transform of the dequantized bitstream.