Experimental Internet Haptic Collaboration using Virtual Coupling Schemes

Improving transparency of virtual coupling for haptic interaction with human force observer

“…showing that the observerd will over-estimate the real human force d by the magnitude of τ c − τ m ≥ 0, increasing the feedforward terms in the virtual coupling (14)- (15). Here, note that, in static contact, the signs of d and τ are opposite.…”

“…Although widely used in haptic applications (e.g., voxmap-pointsheel methods, 10,11 haptic rendering with constraints, [3][4][5] dynamic virtual proxy with inertia, 8,9,12,13 multiuser haptics 14,15 ), this standard virtual coupling is lacking to provide transparency * , since: (1) the force feedback via the spring-damper connection necessitates device-proxy coordination error; and (2) the device and the proxy inertias are left unmodified, acting as a "masking" intermediate impedance between the human user and the virtual environment. See Fig.…”

Position referenced force augmentation in teleoperated hydraulic manipulators operating under delayed and lossy networks: A pilot study

“…In particular, while the operator cannot accurately perceive the position error, due to network delay and packet loss, the force allows them to stay alert of the extent the hydraulic manipulator lags behind the haptic device. As compared to the conventional scheme whereby the direction of the force is parallel to the slave position error [21][22][23][24][25][26] , in our proposed scheme, the force direction is always opposite to the direction of the operator's hand motion. This paper presents a pilot study that validates the effectiveness of the scheme for a telemanipulation platform that is used to conduct a typical liveline maintenance task using a hydraulic manipulator controlled through both a dedicated line (with constant delay and packet loss) and a wireless network (with time-varying delays and packet losses).…”

“…This haptic force can be built upon the position error between the slave end-effector and the master (slave position error-referenced force) 21 . Sankaranarayana and Hannaford 22,23 presented variations of this concept that allow two operators cooperatively move a box along a direction in a networked haptic virtual environment. Kontz et al 24 proposed a scheme commanding the haptic device to generate a force that synchronizes the motion of a haptic device to the excavator bucket movement.…”

Extension of colgate's passivity condition for variable-rate haptics

“…However, its usefulness (and its theoretical justification) starts being broken down, when the communication between the device and the virtual world is not perfect. One example for this is haptic interaction over the Internet [15], [16], [17], where the device and the virtual world are connected over the Internet with varyingdelay and packet-loss (e.g. molecular simulation in a remote super-computer over the Internet).…”