A Semantic Approach to Full-Duplex Cooperative Communication for Haptic Interactions

Abstract

This letter introduces a novel semantic-based full-duplex (FD) cooperative communication system for haptic interactions, specifically addressing scenarios where direct communication paths are unavailable. The proposed system employs an FD relay to facilitate communication between a haptic glove and a robotic hand, operating in conventional decode-and-forward (DF) and semantic decode-and-forward (SDF) modes. In SDF mode, the system prioritizes the transmission of essential semantic content, resulting in significant bandwidth savings in comparison to DF. The performance of the system is evaluated through metrics such as bit error rate, mean squared error, and semantic class match (SCM) under generalized Nakagami-m fading conditions. Further, an optimization problem is formulated to maximize the SCM metric of the system and solved using a particle swarm optimization algorithm. Results show that the proposed SDF outperforms DF, particularly in low signal-to-noise ratio conditions, providing improved reliability and efficiency for haptic interactions.