Experimental Internet Haptic Collaboration Using Virtual Coupling Schemes

Sankaranarayanan, G. and Hannaford, B. (2008) Experimental Internet Haptic Collaboration Using Virtual Coupling Schemes. In: Proceedings 2008 Haptics Symposium.

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Official URL: http://brl.ee.washington.edu/BRL_Pubs/Pdfs/Rep212....


In this paper we present the results from several global-scale haptic collaboration experiments that were performed using the Internet for three virtual coupling schemes proposed to maintain position coherency in a networked haptic virtual environment (NHVE). We compared two of our virtual coupling schemes —which represent a peer-to-peer architecture— to the third, with a client-server architecture. We had set up a packet reflector network at our collaborator servers in order to be able to perform the experiments with subjects located within the same laboratory. Our largest one-way latency was in the order of 200 ms for the packet reflector situated in Italy. The virtual coupling parameters were chosen so that it resulted in stable operation for all the delay values that were tested. UDP was used for haptic data communication because of the high transmission rate requirement for NHVEs. There were three experiments carried out in total: two of them at the packet transmission rate of 1000 Hz with a change in the virtual coupling parameters in Scheme 2 and the third one which tested the three virtual coupling schemes at two fixed transmission rates of 500 Hz and 100 Hz. Locally, the haptic update rate was maintained at 1000 Hz during all the experiments. Our results demonstrate that the peer-to-peer virtual coupling schemes can be used for maintaining position coherency in a NHVE. We also show that the position error and the force rendered to the users increase with the reduction in the packet transmission rate. As such, this work could be used for global-scale stable haptic collaboration using the Internet.

Item Type: Conference or Workshop Item (Paper)
Subjects: B Teleoperation > B Teleoperation (General)
C Surgical Robots > C Surgical Robots(General)
D Haptics
Depositing User: Katherine Pratt
Date Deposited: 13 Jul 2015 09:38
Last Modified: 13 Jul 2015 09:38
URI: http://brl.ee.washington.edu/eprints/id/eprint/157

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