Abstract:Proportional-derivative (PD) control is often used to coordinate the two copies of the virtual environment in distributed two-users networked haptic cooperation. However, a distributed PD controller designed for force interactions between two users may destabilize the haptic cooperation among multiple users because the effective coordination gain for each local copy of the virtual environment increases with the participant count. This paper proposes the average position (AP) strategy to upper bound the effecti… Show more
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