Recent advances in the area of tele-haptics-the abiliry totransmit rhe sense of touch over communications channels-. has enabled rhe implementation of relementoring of tasks where a remote experi user guides a local student by literally holding hisher hand via a network connecrion. A demonsrrarion of tele-haptics was successfully conducted between Geneva and Ottawa in October, 2003 using a mannequin in lieu of a virtual environment for a medical training simulation. In this paper, the results of thar demonstration are extended to include a virtual environment. The task is that of guiding a user through a haptic simulation of a bifurcation of an arrery in a medical training simulator. Two commercial six degree of freedom haptic devices (three degrees actuated) are employed in rhis experimental setup. It is demonstrated that, in the presence of rime delays, rhis simple task is rendered unusable due to the appearance of instabiliry. A time-delay compensation technique is used to restore stability. Two implementation issues have been found IO greatly impact both srabiliry and performance. The firs: issue is that of the sampling period used by the haptic devices at borh the local and remote locarions. The second is that of slighr differences in rhe sampling times of the controllus at both local and remote haptic devices, which ultimately impacts the synchronirnrion of the controllers at rhe two locarions. The impacr of these two implementation issues will be srudied for this particular applicarion through experimental verification.
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