6DOF Haptic Cooperative Virtual Prototyping over High Latency Networks

Comparative study of collaborative methods to control rotation of shared objects

“…McNeely et al [9] and Gautier et. al [4] extended this individual rotation method to shared objects where the rotations applied by a user constrain the partner's actions. In order to reduce the level of constraints during the collaborative manipulation, a six DoF spring damper coupling mechanism (for translation and rotation) is added at the joint of each cursor.…”

“…However, these work focused on the performances of the systems in term of loading times and perception of delay by users. Human factors are briefly discussed by Gautier et al [4]. The users reported that they clearly felt the partners' translations but they did not understand when their partners were performing a rotation.…”

“…Only two studies are focused on the collaborative translation and orientation of shared objects. McNeely et al [9] and Gautier et al [4] proposed both the use of virtual couplings to connect the six DoF of the haptic device with those of the manipulated object. This approach provides a more flexible interaction with the shared object while allowing each partner to control both translation and orientation.…”

“…Manipulation of 3D shared objects in Collaborative Virtual Environments (CVE) plays an important role in various fields such as the collaborative virtual assembly of mechanical components [9] [4]. In these applications two or more users have to simultaneously manipulate shared objects to assemble or disassemble them according to several constraints.…”

6DOF haptic cooperation over large latency network with wave variables for virtual prototyping.

“…However the manipulated rigid bodies were grasped at the same point by the cooperating users. Gautier et al [3] also used a spring-damper and try to compensate the drag force due to this spring-damper in free motion, but they didn't study the stability issues. Kim et al [5] made a transatlantic cooperation over the Internet using a heavy damping to limit the instabilities.…”