## 1 Introduction
Various standard organizations, for instance, the International Telecommunication Union, 3 GPP, and the Institute of Electrical and Electronics Engineering (IEEE) have been operating to empower the existing and design new architecture to incorporate haptic traffic over a network. The Tactile Internet IEEE P1819.1 standard group has been introduced to describe the basic definition of the Tactile Internet and design for standard communication architecture along with technical functions [15]. In addition, it defined Tactile Internet use cases including automotive, cooperative automated driving, Internet of drones, immersive virtual reality, haptic-enabled interpersonal communication, live haptic broadcast, and teleoperation with corresponding requirements. The scope of this paper is to ensure the Quality of Services (QoS) and Quality of Experience (QoE) requirements for teleoperation systems with haptic feedback. The reason behind considering the teleoperation systems only is that most haptic-driven applications utilized teleoperations to interact with the object at a remote location. The basic architecture, along with key components of the haptic-enabled teleoperation system, is illustrated in Figure 1. The teleoperation system comprises three main components: the master domain, the network domain, and the slave domain. A human operator at the master side uses a haptic device and control commands are forwarded to the slave domain over the communication network. The network domain attaches the master and slave domains to provide bidirectional communication over the network. Teleoperators or controller robots are included in the slave domain and are directly controlled by the master domain via control signals. The master domain receives feedback from the slave domain, including haptic and audio-visual signals. Contrary to the traditional communication technological services, Tactile Internet teleoperation service demand includes haptic data packet rate (1 kHz or higher), the packet loss rate \(10^{-3}\)-\(10^{-7}\) availability (99.99%-99.999999%), and End-to-End (E2E) delay in milliseconds (1 ms) [16; 17]. Moreover, these requirements rely upon the application's nature. For example, mission-critical applications, such as telesurgery, required the reliability of around \(10^{-7}\) with a latency of 1 ms, while teletherapy for phobia treatment demands E2E latency of around 50 ms and remote industrial management requires between 0.25-10 ms. The main challenge for Tactile Internet realization is the transmission of haptic traffic with a packet rate \(\geq\)1 kHz under low latency. The high packet rate induces network congestion that leads to packet delay and large packet loss and makes the system prone to QoS violation. These stringent requirements expose different challenges to guaranteeing the QoS and QoE provisioning for the emerging services of Tactile Internet. In the literature, various solutions have been proposed based on haptic codecs and control approaches to tackle the above-mentioned teleoperation challenges [18]. The recent studies focus on integrating different haptic data compression/reduction approaches with stability-ensured control methods, as presented in [18; 19]. However, the aforementioned studies achieve stability of the system during interaction while degrading the quality of interaction. Figure 2 shows the dynamic movement of the human operator's hand by interacting with the moveable cube in the virtual application, and the dataset is adopted from the reference database of Tactile Internet haptic codec working group (IEEE P1918.1.1) [19]. Furthermore, it can be clearly observed from Figure 2 that most of the time, environment (operator/teleoperator) dynamics remain away from their peak values. As a result, the demands of the less dynamic environment for latency, reliability, availability, and security can be eased. The high level of environmental dynamicity involves stringent requirements to guarantee QoS and QoE.