Networked haptic cooperation using remote dynamic proxies

Networked haptic cooperation entails direct interaction among users as well as joint manipulation of virtual objects. To increase the realism of both types of interactions, this paper introduces remote dynamic proxies. Remote dynamic proxies are second order dynamic representations of users at the remote peer sites. They are generated according to dynamics laws and are controlled by the user whom they represent through a virtual coupler. Hence, they move in a physically intuitive manner and do not suffer from position discontinuities due to network packet transmission limitations. The remote dynamic proxies are integrated into a distributed control architecture for networked haptic cooperation. An experimental comparison of the new controller to two recently proposed controllers demonstrates smoother rendering of contact between users, as well as stable cooperation for larger network delays.

[1]  J. Edward Colgate,et al.  Issues in the haptic display of tool use , 1995, Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots.

[2]  Jean-Jacques E. Slotine,et al.  Using wave variables for system analysis and robot control , 1997, Proceedings of International Conference on Robotics and Automation.

[3]  Joseph Tiran,et al.  The Jerusalem TeleRehabilitation System, a New Low-Cost, Haptic Rehabilitation Approach , 2006, Cyberpsychology Behav. Soc. Netw..

[4]  Jee-Hwan Ryu,et al.  Stable Bilateral Control of Teleoperators Under Time-varying Communication Delay: Time Domain Passivity Approach , 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.

[5]  Manuel Menezes de Oliveira Neto,et al.  Transatlantic Touch: A Study of Haptic Collaboration over Long Distance , 2004, Presence: Teleoperators & Virtual Environments.

[6]  Elizabeth A. Croft,et al.  Local Model of Interaction for Haptic Manipulation of Rigid Virtual Worlds , 2005, Int. J. Robotics Res..

[7]  Probal Mitra,et al.  Dynamic proxy objects in haptic simulations , 2004, IEEE Conference on Robotics, Automation and Mechatronics, 2004..

[8]  Oussama Khatib,et al.  Haptic interaction in virtual environments , 1997, Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97.

[9]  Mary C. Whitton,et al.  Effective Cooperative Haptic Interaction over the Internet , 2007, 2007 IEEE Virtual Reality Conference.

[10]  Blake Hannaford,et al.  Architectures for shared haptic virtual environments , 1997, Comput. Graph..

[11]  Anuradha M. Annaswamy,et al.  Motion synchronization in virtual environments with shared haptics and large time delays , 2005, First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. World Haptics Conference.

[12]  John Kenneth Salisbury,et al.  A constraint-based god-object method for haptic display , 1995, Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots.

[13]  Blake Hannaford,et al.  Experimental comparison of internet haptic collaboration with time-delay compensation techniques , 2008, 2008 IEEE International Conference on Robotics and Automation.

[14]  Shahin Sirouspour,et al.  Stability and Performance Analysis of Centralized and Distributed Multi-rate Control Architectures for Multi-user Haptic Interaction , 2007, Int. J. Robotics Res..