**5. Conclusions**

In this paper, we proposed a virtual testbed termed as IoTactileSim to investigate and provision QoS and QoE strict requirements for tactile industrial IoT applications. The proposed IoTactileSim is equipped with a network emulator Mininet and an industrial simulator CoppeliaSim to mimic the real-world communication network and industrial IoT environment. It provides the users to evaluate the efficacy of their designed strategies under possible settings, including advanced core network technologies (SND, NVF), edge intelligence, and application-agnostic parameters (packet size, sampling rate, etc.) for improving QoS and QoE. The proposed IoTactileSim is investigated for two different industrial use case scenarios with haptic data traces and real-time remote interaction. The simulation results indicate that the IoTactileSim is able to handle real-time data traffic then offline scenario by providing communication latency ranges from 6 to 2.2∼2.0 ms, and from 5.8 to 2.1 ms for 10 to 10,000 data packets, respectively. Moreover, the experimentation analysis indicates that the IoTactileSim allows the user to investigate network impairments (latency, jitter, reliability) and can support complex tactile industrial environments with a higher number of data packets. In the early future, we plan to extend the IoTactileSim with network coding and machine learning approaches like federated reinforcement learning at the tactile support engine to integrate it with the 6G network infrastructure.

**Author Contributions:** Methodology, R.A., A.H. and M.Z.I.; Software and coding, M.Z.I. and S.; Experimentation and formal analysis, M.Z.I., R.A. and A.H.; Writing—original draft preparation, M.Z.I. and A.H.; Writing—review and editing, M.Z.I., S., A.H. and R.A.; Supervision, H.K.; Funding acquisition, M.Z.I and H.K. All authors have read and agreed to the published version of the manuscript.

**Funding:** This work was supported by the National Research Foundation of Korea (NRF) gran<sup>t</sup> funded by the Korean governmen<sup>t</sup> (MSIT) (Nos. 2019R1A4A1023746, 2019R1F1A1060799) and the Strengthening R&D Capability Program of Sejong University.

**Institutional Review Board Statement:** Not applicable.

**Informed Consent Statement:** Not applicable.

**Data Availability Statement:** The 3DoF haptic datasets used in this work are available online with open access for academic research use. The static and dynamic interaction haptic dataset is available online at https://cloud.lmt.ei.tum.de/s/4FmHUCsoUvwRle3 (accessed on 1 November 2021), and the simulation experiment results files are availabe at https://github.com/zubair1811/ IoTactileSimV1.git, (accessed on 30 November 2021).

**Conflicts of Interest:** The authors declare no conflict of interest.
