  Communication delays and packet losses are commonly investigated issues in
the area of robotic teleoperation. This paper investigates application of a
novel low-power wireless control technology (GALLOP) in a haptic teleoperation
scenario developed to aid in nuclear decommissioning. The new wireless control
protocol, which is based on an off-the-shelf Bluetooth chipset, is compared
against standard implementations of wired and wireless TCP/IP data transport.
Results, through objective and subjective data, show that GALLOP can be a
reasonable substitute for a wired TCP/IP connection, and performs better than a
standard wireless TCP/IP method based on Wi-Fi connectivity.
