# Model Mediation to Overcome Light Limitations--Toward a Secure Tactile Internet System
## 1 Introduction
 } & \multirow{7}{*}{7} & \multirow{7}{*}{12 \(\pm\) 8 N} & \multirow{7}{*}{14.5 N/mm} & \multirow{7}{*}{**Hand centered**} & \multirow{7}{*}{**Hand centered**} & \multirow{7}{*}{**Hand centered**} & \multirow{7}{*}{**Hand centered**} \\  & & & & & & \\ \cline{4-7}  & & & & & & & \\ \cline{4-7}  & & & & & & & \\ \cline{4-7}  & & & & & & & \\ \cline{4-7}  & & & & & & & \\ \hline \hline \multirow{7}{*}{ \begin{tabular}{c} sigma\_7 \\ [16] \\ \end{tabular}  } & \multirow{7}{*}{7} & \multirow{7}{*}{20 \(\pm\) 8 N} & \multirow{7}{*}{ \begin{tabular}{c} unusual closed \\ loop stiffness \\ \end{tabular}  } & \multirow{7}{*}{100 } & \multirow{7}{*}{ \begin{tabular}{c} Natural range of \\ motion of the human \\ hand, Compatible \\ loop stiffness \\ \end{tabular}  } & \multirow{7}{*}{\ \begin{tabular}{c} High performance free-technology: Highly \\ torque feedback; Active gravity compensation \\ \end{tabular}  } & \multirow{7}{*}{ \begin{tabular}{c} Advanced aerospace and medical \\ industries; Safety-critical \\ applications; Training: Developing \\ of haptic applications. \\ \end{tabular}  } \\ \cline{4-7}  & & & & & & \\ \cline{4-7}  & & & & & \\ \cline{4-7}  & & & & & \\ \cline{4-7}  & & & & & \\ \cline{4-7}  & & & & & \\ \cline{4-7}  & & & & & \\ \cline{4-7}  & & & & & \\ \cline{4-7}  & & & & & & \\ \cline{4-7}  & & & & & & \\ \cline{4-7}  & & &Various applications in many heterogeneous fields can be allowed over the tactile Internet, which include the following [17; 18]:  
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2. Healthcare applications: Tactile Internet is expected to assist the human healthcare by introducing new applications and facilities that do not support by the traditional networks. These applications include remote rehabilitation, remote diagnosis, and remote surgery applications. These applications will make the rare medical expertise and physicians available anywhere, and break the location limitations. Furthermore, robots can perform complete complicated surgeries (e.g., neurological surgery and heart surgery) with a remote control by an expert surgeon over the tactile Internet [19]. 3. Virtual and augmented reality (VR/AR) applications: Tactile Internet will assist the dynamic augmentation instead of existing static solutions. VR can be considered as a form of haptic communications that will be delivered more collaboratively over the tactile Internet. Complete latency and reliability requirements of the VR/AR applications will be supported by the tactile Internet, which is expected to achieve a round trip latency of 1 ms far from that required by VR applications (i.e., 5 ms) [20]. 4. Industry automation applications: The closed loop control circuit of most of industry automated systems requires a per sensor end-to-end latency of 1 ms [17; 21]. This can be achieved via the tactile Internet system and the current wired system would be turned to wireless or augmented systems. This will enable more automated process and enhance the automation of current processes. 5. Robotics applications: Recently, robots have begun to take part in our daily life, and the number of developed robots and their market revenue increase daily [22]. Tactile Internet will take part in the human controlled robots; especially for remote control applications. The ultra-reliable latency and reliability required by remote controlled robots will be achieved by the tactile Internet [23]. 6. Vehicular applications: Tactile Internet is expected to assist the road traffic management through the vehicle sensors and driver assistance systems. Tactile Internet will facilitate and provide the medium for the vehicle to vehicle communication (V2V) and the vehicle to the road side infrastructure communication (V2I). Furthermore, the high mobility required by the vehicular applications will be supported by the tactile Internet [24]. 7. Smart grid applications: The main aim of the intelligent smart grid is to distribute the generated energy efficiently, with the required stability of power supply.