Tangible Cooperation in Shared Virtual Environment

Recent advanced technologies enable multiple users to share the virtual environment and work together as they are collocated. Additional sensory information such as haptic could improve the cooperation. In this paper, we propose a server-client architecture with multi-rate haptic control to support a tangible cooperation. Using our approach, the system is able to maintain a consistent simulation state across multiple users as well as to provide a highfidelity stable haptic interaction. To verify our approach, we have developed an experimental application and tested the cooperation among multiple users. The results confirm that our system is able to provide coherency among clients as well as haptic transparency.

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