  Tactile internet applications allow robotic devices to be remotely controlled
over a communication medium with an unnoticeable time delay. In a bilateral
communication, the acceptable round trip latency is usually in the order of 1ms
up to 10ms depending on the application requirements. It is estimated that 70%
of the total latency is generated by the communication network, and the
remaining 30% is produced by master and slave devices. Thus, this paper aims to
propose a strategy to reduce 30% of the total latency that is produced by such
devices. The strategy is to apply reconfigurable computation using FPGAs to
minimize the execution time of device-associated algorithms. With this in mind,
this work presents a hardware reference model for modules that implement
nonlinear positioning and force calculations as well as a tactile system formed
by two robotic manipulators. In addition to presenting the implementation
details, simulations and experimental tests are performed in order to validate
the proposed model. Results associated with the FPGA sampling rate, throughput,
latency, and post-synthesis occupancy area are analyzed.
