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The next frontier in communications is teleoperation -- manipulation andcontrol of remote environments. Compared to conventional networkedapplications, teleoperation poses widely different requirements, ultra-lowlatency (ULL) being the primary one. Teleoperation, along with a host of otherapplications requiring ULL communication, is termed as Tactile Internet (TI). Asignificant redesign of conventional networking techniques is necessary torealize TI applications. Further, these advancements can be evaluated only whenmeaningful performance metrics are available. However, existing TI performancemetrics fall severely short of comprehensively characterizing TI performance.In this paper, we take the first step towards bridging this gap. To this end,we propose a method that captures the fine-grained performance of TI in termsof delay and precision. We take Dynamic Time Warping (DTW) as the basis of ourwork and identify whether it is sufficient in characterizing TI systems. Werefine DTW by developing a framework called Effective Time- and Value-Offset(ETVO) that extracts fine-grained time and value offsets between input andoutput signals of TI. Using ETVO, we present two quantitative metrics for TI --Effective Delay-Derivative (EDD) and Effective Root Mean Square Error. Throughrigorous experiments conducted on a realistic TI setup, we demonstrate thepotential of the proposed metrics to precisely characterize TI interactions.

Setting the Yardstick: A Quantitative Metric for Effectively Measuring Tactile Internet