In this paper, lossy data compression of haptic data is presented and the results of its application to a motion copying system are described. Lossy" data compression has been studied and practically applied in audio and image coding. Lossy data compression of the haptic data has been not studied extensively. Haptic data compression using discrete cosine transform (DCT) and modified DCT (MDCT) for haptic data storage are described in this paper. In the lossy compression, calculated DCT/MDCT coefficients are quantized by quantization vector. The quantized coefficients are further compressed by lossless coding based on Huffman coding. The compressed haptic data is applied to the motion copying system and the results are provided.
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